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基于多軸聯(lián)動(dòng)的航天器帶動(dòng)力風(fēng)洞實(shí)驗控制系統設計
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西安郵電大學(xué)

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Design of control system for spacecraft with power wind tunnel experiment based on multi-axis linkage
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    摘要:

    針對當前航天器帶動(dòng)力風(fēng)洞實(shí)驗控制系統受動(dòng)態(tài)性能和穩態(tài)精度的影響,導致航天器中心偏離風(fēng)洞軸心距離控制誤差較大,上旋翼所能承受壓力與實(shí)際值不符的問(wèn)題,設計基于多軸聯(lián)動(dòng)的航天器帶動(dòng)力風(fēng)洞實(shí)驗控制系統。采用PROFIBUS現場(chǎng)總線(xiàn)方式,設計控制系統總體結構。使用伺服電機模塊,控制啟停指令,以西門(mén)子57-300 PLC為主站設計現場(chǎng)控制器,研制一種航天器風(fēng)洞測試支撐裝置,并將迎角機構安裝在模塊化分層結構中。利用多軸聯(lián)動(dòng)控制器,采用RS-232串行通信原理,根據負載慣量選擇2kW伺服驅動(dòng)器,實(shí)現伺服電機緊急停車(chē),完成控制系統硬件設計。計算多軸聯(lián)動(dòng)隨動(dòng)目標動(dòng)態(tài),使用柔性bang-bang控制,消除系統動(dòng)態(tài)性能和穩態(tài)精度的影響,在誤差數據支持下,設計實(shí)驗控制流程,完成控制系統軟件設計。實(shí)驗結果表明,該系統控制航天器中心偏離風(fēng)洞軸心最大偏離距離為0.32mm,最小為0.1mm,且上旋翼所能承受壓力與實(shí)際值一致,控制誤差較小,具有精準控制效果。

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    Due to the influence of the dynamic performance and steady-state accuracy of the current spacecraft wind tunnel test control system, the control error of the spacecraft center deviation from the wind tunnel axis is large, and the pressure of the upper rotor is inconsistent with the actual value. The overall structure of the control system is designed based on PROFIBUS. The servo motor module is used to control the start stop command, and the Siemens 57-300 PLC is used as the master station to design the field controller. A kind of support device for spacecraft wind tunnel test is developed, and the angle of attack mechanism is installed in the modular hierarchical structure. Using multi axis linkage controller, RS-232 serial communication principle, 2kW servo driver is selected according to the load inertia to realize the emergency stop of servo motor, and the hardware design of control system is completed. The flexible bang bang control is used to eliminate the influence of system dynamic performance and steady-state accuracy. With the support of error data, the experimental control process is designed and the control system software is designed. The experimental results show that the maximum deviation distance of the spacecraft center from the wind tunnel axis is 0.32mm, and the minimum is 0.1mm. The pressure of the upper rotor is consistent with the actual value, the control error is small, and the system has accurate control effect.

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李麗萍,閆金星.基于多軸聯(lián)動(dòng)的航天器帶動(dòng)力風(fēng)洞實(shí)驗控制系統設計計算機測量與控制[J].,2021,29(6):123-127.

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  • 收稿日期:2021-02-05
  • 最后修改日期:2021-03-16
  • 錄用日期:2021-03-16
  • 在線(xiàn)發(fā)布日期: 2021-07-07
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