Control and Experiment of Flexible-cable-driven Virtual Microgravity Training System for Astronauts

被引：0
|
作者：
Xue F. [1 ]
Zhang L. [1 ]
Wang Z. [1 ]
Xiao X. [2 ]
Lin L. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin
[2] School of Mechanical Engineering, Northeast Electric Power University, Jilin
来源：
Yuhang Xuebao/Journal of Astronautics | 2022年 / 43卷 / 10期
关键词：
Flexible cables; Force position hybrid control; Microgravity environment; Virtual operation training;
D O I：
10.3873/j.issn.1000-1328.2022.10.013
中图分类号：
学科分类号：
摘要：
In view of the problems of high cost, short training time and low simulation accuracy of the existing ground microgravity training equipment for astronauts, a virtual microgravity training system driven by flexible cables is proposed. By sampling the astronaut' s operating force on the object, the cable is controlled to drive the virtual object (end effector) to move, so that the virtual object conforms to the motion law in the microgravity environment. The dynamics model of the cable-driven training system is established and the characteristics of the system are analyzed. Aiming at the problem that the excess force of the traditional force servo system has great influence on the control accuracy and is difficult to overcome, a control strategy of all-position control of parallel cables using springs to generate cable tension and introducing local force/ velocity feedback is proposed. The results of experiments show that the system can overcome the excess force obviously and obtain higher driving force control accuracy. The motion of virtual mass under the action of operating force is consistent with the motion law in the microgravity environment, and has high simulation accuracy. The system has good stability and can realize virtual training of moving different mass objects in the microgravity environment. © 2022 China Spaceflight Society. All rights reserved.
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页码：1410 / 1419
页数：9
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