基于力矩控制法的同步展开技术研究

Study on Deployable Structure Synchronization Technology Based on Torque Control Method

多连杆展开结构作为一种典型的空间展开结构,需要通过机械或绳索同步装置进行展开运动控制。为有效降低展开系统的复杂度,避免传统机械同步装置的不足,提出了一种新型运动控制方法:力矩控制法。通过分析3连杆系统的运动特性,确定了系统各展开轴线上的驱动力矩是控制同步性的关键参数。为实现有序展开,3连杆系统需要在运动过程中合理分配各驱动力矩值。传统的机械同步装置是强制保持力矩平衡以实现同步性,而力矩控制法则是通过精确设计各力矩值实现展开同步的。在实际工程应用中,为简化参数选取难度,采用恒力矩驱动弹簧代替阿基米德涡卷弹簧作为系统动力源。在建立展开结构的动力学模型的基础上,运用ADAMS的设计评估工具完成了弹簧参数的确定。最终结果标明整个展开系统的不同步量优于0.3 s,能够满足使用要求。

As a typical space structure,multi-link deployable structures use a lot of structural or cable synchronous devices for motion control. To reduce the complexity of deployable structures and avoid the disadvantage of traditional synchronous devices,a new motion control method: torque control method was proposed in this paper. Through the study of three-link system's kinematic characteristics,driving torque was identified as the key parameter of synchronization. In order to achieve the orderly expansion,three-link system must allocate values for all the driving torques logically.Compared with the traditional mechanical devices' compelling synchronization,the new torque control method could achieve synchronization by torque value precision design. In the practical application,in order to simplify the parameter selection,constant-torque spring replaced the Archimedes spiral spring as the driving device. Based on the deployable structure's kinematic model,springs' values were obtained by the design evaluation tool in ADAMS. The final results showed that the asynchronous deployable time was less than 0.3s,which could meet the application requirement.