基于TwinCAT的舱段数字化柔性自动对接平台控制系统设计

Design of control system for digital flexible and automatic docking platform based on TwinCAT

针对国内航天器舱段对接主要采用"手工装配"模式难以满足日益增长的产量需求的现状,提出了一种新型航天器舱段对接模式,基于Twin CAT研究设计了舱段数字化柔性自动对接平台的控制系统,控制系统关联融合了多自由度调姿、数字化测量、柔性装配等先进技术。介绍了平台机构与测量系统,解析了控制系统架构,设计了对接控制流程,应用Twin CAT的电子凸轮等运动控制模块、ST语言和顺序功能图等实现了对舱段对接过程的编程并且通过EtherCAT总线实时控制电动机和平台,基于力控组态软件设计上位机界面。最后通过实验验证了控制系统的可行性,减少了人工劳动力,有效提高了航天器舱段对接的效率,足以满足未来航天器型号任务的需求。

Aiming at the current situation that the domestic spacecraft cabin docking is mainly difficult to meet the increasing production demand by the M hand assembly" mode, anew spacecraft cabin docking mode is proposed. Based on TwinCAT research, the control system of the digital flexible automatic docking platform of the cabin is designed. The control system is associated with advanced technologies such as multi - degree of freedom attitude adjustment, digital measurement and flexible assembly. The platform mechanism and measurement system are introduced, the control system architecture is analyzed, and the docking control process is designed. The use of TwinCAT9s electronic cam and other motion control modules, ST language and sequential function diagrams enables the programming of the docking process and the real-time control of the motor and platform via the EtherCAT bus. Based on the force control configuration software, the upper computer interface is designed. Finally, the feasibility of the control system is verified by experiments, the artificial labor is reduced, and the efficiency of docking of the spacecraft cabin is effectively improved, which is sufficient to meet the mission requirements of the spacecraft in the future.