Research on the configuration of cable-driven parallel robots for vibration suppression of spatial flexible structures
Research on the configuration of cable-driven parallel robots for vibration suppression of spatial flexible structures
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DOI：
10.1016/j.ast.2020.106434
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发表时间：
2020-12
影响因子：
5.6
通讯作者：
Haining Sun;Senhao Hou;Qunzhi Li;Xiaoqiang Tang
中科院分区：
文献类型：
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作者：
Haining Sun;Senhao Hou;Qunzhi Li;Xiaoqiang Tang
具有超长机翼的特定卫星在外部扰动和自转作用下容易产生剧烈振动，对柔性机翼造成损伤，影响卫星的正常运行。在严重的情况下，卫星将被损坏。因此，实现快速振动抑制尤为关键。此外，为了保护柔性翼不受损伤和减少能量消耗，控制力应该很小。综合考虑上述两个问题，提出了一种利用缆索驱动并联机器人进行振动抑制的方案。此外，本文还研究了不同结构的CDPR对控制效果的影响。首先，采用有限元法建立了由四根拉索和一个柔性结构组成的CDPR的动力学模型。采用Newmark-β法分析了索力可控时模型的动力特性。提出了一种以稳定时间、最大索力和能耗为优化指标的优化方法。基于该指标，分别在所提出的模糊PID控制方法和主动控制方法的控制下，对六种不同结构的CDPR进行了实验。作为比较，被动控制方案也进行了测试。最后，通过数值仿真对振动抑制效果进行了评价，得到了满意的结果。
Specific satellites with ultra-long wings easily suffer from violent vibrations caused by the external disturbance and self-rotation, which do harm to flexible wings and affect the normal operation of satellites. In severe cases, the satellites would be damaged. Therefore, achieving rapid vibration suppression is particularly critical. Besides, to protect flexible wings from damage and reduce energy consumption, the control force should be small. Considering the above two issues comprehensively, a scheme using cable-driven parallel robots (CDPRs) to suppress vibrations is proposed. Furthermore, the influence of different configurations of CDPRs on the control effect is studied in the paper. First, the dynamic model of the CDPR which is comprised of four cables and a flexible structure is established using the finite element method. Then, the dynamic behavior of the model under the controllable cable force is analyzed by the Newmark-β method. An optimization index including the settling time, the maximum cable force and energy consumption is presented. Based on the index, six kinds of CDPRs with different configurations are tested under the control of the proposed Fuzzy-PID method and an active control method, respectively. As a comparison, a passive control scheme is also tested. Finally, numerical simulations are implemented to evaluate the effect of the vibration suppression, and the results are satisfactory.