Study On Tracking Performance Of Constant Tension Device

With the development of aviation technology, the ground zero gravity space simulation is increasingly important. Aerospace equipments are tested in the simulated zero-gravity environment that can maximize the reduction of aerospace research costs, improve the overall performance of aerospace equipment. And it also can guarantee the performance of aerospace equipments to meet the requirements and ensure the normal flight spacecraft in space after they launched. The constant tension device applies to ground zero gravity space environment simulation. The device uses the friction-free cylinder- piston outputted constant tension to balance the piece gravity, so that the piece could reach weightlessness. And the friction-free cylinder- piston extended its itinerary by a tracking control mechanism. The study of the constant tension device performance of the tracking system in case of a large stroke, variable speed and acceleration is the key point. The technical difficulty, with some highly challenging, and is an exploration of the meaning of the subject.The constant tension device produced constant tension force by friction-free cylinder-piston. In order to solve the problem of short stroke cylinder, the study tracks servo motor control method to proposes a virtual extension of the constant tension that by the method of servo motor tracking control. And also in order to reduce the pressure fluctuations caused by inertial effects and tracking quality components, the study uses an electromagnetic mechanism of electromagnetic to generate the electromagnetic force the driven the output of the constant tension. The main contents and results are as follows:1. Summarized the current methods of zero-gravity environment simulation and Current research, and constant tension control methods and applications.2. Described a single set of constant tension device composition and working principle. It given the virtual extension of the constant tension of travel method that by the method of servo motor tracking control. Analysis of the tracking system and the electromagnetic force compensation system design reasons and purposes.3. Elaborate on the causes and control principle of tracking control, and detailed analysis the tracking control algorithm. Transmission tracking mechanism was dynamic analysis and simulated analysis. And by considering the inertia, the load torque, the tracking speed and the motor power choosed the right type of servo motor by calculating the actual parameters.4. Showed the control system design and control boards were hierarchical designed according to their module function. Detailly described the function of the each control circuit board, created the PCB circuit board, completed the circuit board debugging and designed the hardware and software of the controller. And finally described the control system customed CAN bus and SPI bus protocol format and communication steps.5. Discussed the constant tension device tracking performance test program. Experiments showed that constant tension device tracking control system was reliable and can be done smoothly and reliably. Experiments verified the reasonableness of the design.