Tether crawler system
Tether crawler system
复制标题
系绳爬行系统
DOI：
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发表时间：
1986
期刊：
影响因子：
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通讯作者：
F. Swanson
中科院分区：
文献类型：
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作者：
F. Swanson
设计了一个履带式系统，用于沿着空间站和所附空间平台之间的系绳移动低g/可变g实验室模块。分析了控制律参数变化对履带系统位移、速度和加速度的影响。然后通过添加恒速部分来修改控制律，并将行驶距离、速度和加速度的值作为时间的函数进行分析。推导了履带系统在轨道上沿着系绳运动时的功率和转矩方程，并利用控制律计算了四种不同情况下每种预定运动所需的功率和转矩随时间的变化。选择两步控制序列，以允许通过行进的距离沿系绳沿着初始定位，随后进行游标移动以达到最终期望的恒定净加速度水平。控制系统的组件被识别并以块图配置进行布置。还确定了支持子系统。这些部分被整合起来，以制定一个确定履带系统性能要求和系绳履带系统初始设计的程序。
A crawler system is designed to move a low-g/variable-g laboratory module along a tether between the Space Station and an attached space platform. An analysis is made of the effects of control law parameter change on the displacement, velocity, and acceleration of the crawler system. The control law is then modified by the addition of a constant-velocity section and the values of distance traveled, velocity, and acceleration are analyzed as a function of time. The power and torque equations are derived for a crawler system moving along a tether in orbit and numerical values of power and torque required for each prescribed movement are calculated versus time for four different cases using the control laws. A two-step control sequence is selected to permit initial location along the tether by distance traveled, followed by a vernier movement to reach the final desired constant net acceleration level. The components for the control system are identified and arranged in a block disgram configuration. The support subsystems are also identified. The sections were integrated to develop a procedure for the determination of crawler system performance requirements and the initial design of tether crawler systems.