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

IF 1.5 Q3 AUTOMATION & CONTROL SYSTEMS
Xue Feng, Zhang Li-xun, Wang Chao, Wang Zhen-han, Fan Yu-he
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引用次数: 0

摘要

航天员地面微重力环境模拟训练是执行空间运行任务的重要准备工作。针对现有微重力训练设备成本高、单次训练时间短、仿真精度低等问题,提出了一种由平面3自由度(以下简称“DOF”)缆索驱动的虚拟微重力训练系统。该系统通过对航天员对工作物体的操作力进行采样,控制缆绳牵引的虚拟物体的运动;使虚拟物体符合微重力环境下的运动规律。设计了系统的结构。针对以往缆索驱动系统中缆索张力分布不合理导致工作空间不足、对驱动单元性能要求高的问题,提出了一种利用遗传算法优化缆索张力的控制策略。仿真结果表明,虚质量在操作力作用下的运动符合微重力环境下的运动规律,具有较高的仿真精度;索张力变化平稳,系统稳定性好。实现了微重力环境下不同质量运动物体的模拟操作训练。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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.
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来源期刊
IET Cybersystems and Robotics
IET Cybersystems and Robotics Computer Science-Information Systems
CiteScore
3.70
自引率
0.00%
发文量
31
审稿时长
34 weeks
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