Xue Feng, Zhang Li-xun, Wang Chao, Wang Zhen-han, Fan Yu-he
{"title":"平面三自由度缆索驱动虚拟微重力训练系统结构设计与控制研究","authors":"Xue Feng, Zhang Li-xun, Wang Chao, Wang Zhen-han, Fan Yu-he","doi":"10.1109/CYBER55403.2022.9907691","DOIUrl":null,"url":null,"abstract":"Astronauts' microgravity environment simulation training on the ground is an important preparation for space operation tasks. In view of the problems of high cost, short single training time and low simulation accuracy of the existing microgravity training equipment, a virtual microgravity training system driven by plane 3 degrees of freedom (hereinafter referred to as “DOF”) cable is proposed. The system controls the motion of the virtual object pulled by the cable by sampling the astronauts' operating force on the working object; so that the virtual object conforms to the motion law in the microgravity environment. The structure of the system is designed. Aiming at the problems of insufficient workspace and high requirements for the performance of the driving unit caused by the unreasonable distribution of cable tension in the previous cable drive system, a control strategy of optimizing cable tension using genetic algorithm is proposed. The simulation results show that the motion of virtual mass under the action of operating force conforms to the motion law in microgravity environment, and has high simulation accuracy; The cable tension changes smoothly and the system has good stability. It can realize the simulated operation training of moving objects with different masses in microgravity environment.","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":null,"pages":null},"PeriodicalIF":1.5000,"publicationDate":"2022-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Structure Design and Control of Plane 3-DOF Cable Driven Virtual Microgravity Training System\",\"authors\":\"Xue Feng, Zhang Li-xun, Wang Chao, Wang Zhen-han, Fan Yu-he\",\"doi\":\"10.1109/CYBER55403.2022.9907691\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Astronauts' microgravity environment simulation training on the ground is an important preparation for space operation tasks. In view of the problems of high cost, short single training time and low simulation accuracy of the existing microgravity training equipment, a virtual microgravity training system driven by plane 3 degrees of freedom (hereinafter referred to as “DOF”) cable is proposed. The system controls the motion of the virtual object pulled by the cable by sampling the astronauts' operating force on the working object; so that the virtual object conforms to the motion law in the microgravity environment. The structure of the system is designed. Aiming at the problems of insufficient workspace and high requirements for the performance of the driving unit caused by the unreasonable distribution of cable tension in the previous cable drive system, a control strategy of optimizing cable tension using genetic algorithm is proposed. The simulation results show that the motion of virtual mass under the action of operating force conforms to the motion law in microgravity environment, and has high simulation accuracy; The cable tension changes smoothly and the system has good stability. It can realize the simulated operation training of moving objects with different masses in microgravity environment.\",\"PeriodicalId\":34110,\"journal\":{\"name\":\"IET Cybersystems and Robotics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.5000,\"publicationDate\":\"2022-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IET Cybersystems and Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CYBER55403.2022.9907691\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Cybersystems and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CYBER55403.2022.9907691","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Research on Structure Design and Control of Plane 3-DOF Cable Driven Virtual Microgravity Training System
Astronauts' microgravity environment simulation training on the ground is an important preparation for space operation tasks. In view of the problems of high cost, short single training time and low simulation accuracy of the existing microgravity training equipment, a virtual microgravity training system driven by plane 3 degrees of freedom (hereinafter referred to as “DOF”) cable is proposed. The system controls the motion of the virtual object pulled by the cable by sampling the astronauts' operating force on the working object; so that the virtual object conforms to the motion law in the microgravity environment. The structure of the system is designed. Aiming at the problems of insufficient workspace and high requirements for the performance of the driving unit caused by the unreasonable distribution of cable tension in the previous cable drive system, a control strategy of optimizing cable tension using genetic algorithm is proposed. The simulation results show that the motion of virtual mass under the action of operating force conforms to the motion law in microgravity environment, and has high simulation accuracy; The cable tension changes smoothly and the system has good stability. It can realize the simulated operation training of moving objects with different masses in microgravity environment.