绳系拖曳过程中的若干典型张力控制

Tension Control in the Typical Towing Process of Tethered System

针对绳系典型拖曳过程中系绳张力控制响应速度快、精度高等要求,结合研制的系绳收放装置,考虑绳系系统非线性强、难以精确建模等特点,提出了一种PD控制策略。分析研究了不同类型(弹性系数)的系绳对控制策略的影响,弹性系数越大的系绳,则需要系统有更快的响应速度及更好的抑制震荡、减少超调的能力。最后,采用凯夫拉系绳,在气浮平台上进行了间歇式拖曳和消旋2种典型拖曳实验。结果表明,研制的绳系收放装置及其张力控制策略具有良好的张力跟踪性能,能较好地满足空间对象地面拖曳实验需求,也为下一步空间实验提供了基础。

In view of the fast response speed and high precision of the tether tension control during the typical towing process of tethered system, a PD control strategy was proposed considering the characteristics of the nonlinear and difficult modeling of tethered system. The greater the tether elasticity coefficient, the faster response speed and better suppression of vibration of the system were needed. Finally, the typical towed experiments on the floatation platform: intermittent towing experiment and rotation suppression experiment were conducted in the use of Kevlar tether. The experimental results showed that the tether tension control device has good operability and can fulfill the demand in ground test.