• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报

• 机构学及机器人 • 上一篇    下一篇

重力引起的3自由度气浮台各类不平衡力矩关系及影响

 

李延斌1 ,向 东2 ,高有华1
  

  1. 1. 沈阳工业大学机械工程学院  沈阳  110023
    2. 哈尔滨工业大学机电工程学院  哈尔滨  150001
  • 收稿日期:2014-11-06 修回日期:2015-09-27 出版日期:2015-11-05 发布日期:2015-11-05
  • 作者简介:李延斌,男,1964年出生,博士,副教授。主要研究方向为航天器地面仿真技术。 E-mail:Liyanbin66@163.com
  • 基金资助:
    国家自然科学基金(51305094)、辽宁省自然科学基金(201202161)和辽宁省教育厅一般项目(L2015386)资助项目

 
Relation and Influence of All Kinds of Unbalance Torques of Three Degrees of Freedom Air-bearing Spacecraft Simulator Caused by Gravity

LI Yanbin1, XIANG Dong2, GAO Youhua1   

  1. 1. School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110023;
    2. College of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001
  • Received:2014-11-06 Revised:2015-09-27 Online:2015-11-05 Published:2015-11-05

摘要:

为了提高3自由度气浮台的仿真精度,减小重力引起不平衡力矩的影响,提出气浮台弹性不平衡力矩的计算及补偿方法。建立气浮台重力引起的静态、弹性、重力梯度和总不平衡力矩的计算模型,分析重力引起的各类不平衡力矩关系及影响。通过对比发现气浮台质心位置相对回转中心较远时,静态不平衡力矩起主要作用。随着质心位置接近回转中心,弹性不平衡力矩逐渐成为影响气浮台平衡的主要因素,此时质心位置与回转中心距离的减小已不起作用,说明弹性不平衡力矩是制约气浮台精度提高的主要因素。提出静态不平衡力矩与弹性不平衡力矩相互补偿的原理,给出自动调平衡系统补偿算法。试验结果表明采用补偿方法是减小气浮台不平衡力矩的有效措施。

关键词: 卫星,  ,  , 补偿, 不平衡力矩, 三轴气浮台

Abstract:

To improve three degrees of freedom air-bearing simulation accuracy and reduce the influence of unbalance torque caused by gravity, a method for calculating and compensating elastic unbalance torque is proposed. After computational model of static, plastic, gravity gradient and total unbalance torque being established, the relation and influence among all kinds of unbalance torque cause by gravity are analysis. It is discovered by contrast that static unbalance torque plays an important role when the platform mass center is far away from the rotation center. With the mass center approaching to rotation center, elastic unbalance torque is gradually becoming the main factor affecting the air-bearing platform balance. Then closing the distance between mass center and rotation center has nothing to do on reducing the unbalance torque, which shows that elastic unbalance torque is the main limiting factor for improving platform accuracy. The principle for mutual compensation between static unbalance torque and elastic unbalance torque is proposed and the compensation algorithm with automatic balancing system is provided. Experimental results have demonstrated application of the compensation method is an important channel for reducing unbalance torque.

Key words:

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