航天器环境工程2017，Vol.34Issue(1)：98-103,6.DOI:10.3969/j.issn.1673-1379.2017.01.016
空气弹簧支撑的Hexapod微激振平台自动调平研究
Automatic leveling of Hexapod micro-vibration system supported
by air springs
关睿雪 1黄海 1黄舟 2王海强3
作者信息
- 1. 北京航空航天大学宇航学院,北京 100191
- 2. 中国工程物理研究院总体工程研究所,绵阳 621999
- 3. 中国空间技术研究院通信卫星事业部,北京 100094
- 折叠
摘要
Abstract
The Hexapod micro-vibration system contains some self-contradictory technical specifications: the heavy load and the small order of vibration magnitude. In view of this fact, an automatic leveling pneumatic support system is designed for precisely unloading the dead weight and for the small order control of the actuators. The system consists of the four-point trapezoidal resilient mounting system with air springs when the system is in the work state, and the three-point stiff auxiliary mounting system for load support when the system is not in the work state. The automatic leveling control system has two features: the force coupling between the resilient mounting and the stiff mounting, and the non-linearity and the time-delay of the pneumatic control. To solve these two problems, an switch on-off control scheme including the continuous inflation and the pulse inflation is proposed. The experiment results show that the Hexapod system with a load of 200kg can be automatically leveled within 140s, and the displacement errors of the Hexapod's six actuators are less than or equal to 1mm.关键词
Hexapod微激励系统/辅助支撑/空气弹簧/自动调平/开关控制Key words
Hexapod micro-vibration system/stiff combined mounting/air spring/automatic leveling/switch control分类
信息技术与安全科学引用本文复制引用
关睿雪,黄海,黄舟,王海强..空气弹簧支撑的Hexapod微激振平台自动调平研究[J].航天器环境工程,2017,34(1):98-103,6.
