航天捕获拖曳伺服机构系绳张力峰均比抑制技术

Peak-to-average ratio suppression technology of aerospace tension servo mechanism

系绳张力的建立需要收绳与目标物拖曳之间存在速度差,针对传统PI控制难以在张力建立或释放等动态过程中获得平稳快速的控制效果问题,提出了一种将积分控制器分段组合的抗冲击策略,在张力建立过程中采用纯积分控制,当张力反馈接近参考值时,加入比例控制使张力值快速收敛,进而较为精确地建立张力,并有效抑制张力冲击,同时采用积分重置的方法使动态控制过程前后张力连续稳定。仿真和样机实验表明,该控制策略精度较高,张力突变过程响应平稳且迅速,且不需要引入额外的物理量,结构简单,占用硬件资源少,可靠性较高。

Establishment of the tether tension requires a speed difference between the rope retraction and the target drag,making it difficult for the traditional PI control to obtain a stable and fast control effect in the dynamic process of tension establishment or release.To solve the problem,an anti-impact strategy was proposed,in which integral controllers were piecewise combined.Only integral control was used in the process of tension establishment.When the tension feedback was close to the reference value,the proportional control was added to make the tension value converge quickly,then the tension was established more accurately and the tension impact was effectively suppressed.Meanwhile,the integral reset method was used to make the tension continuous and stable before and after the dynamic control process.Simulation and prototype experiments showed that the anti-impact control strategy had high accuracy,and the response to tension sudden changes was smooth and rapid.At the same time,the control strategy did not need to introduce additional physical quantities,featuring simple structure and high reliability,and occupying less hardware resources.