Research On Inertia Simulation Test System Of Docking Translocation Mechanism

The docking translocation mechanism is an important mechanism in space station construction.It is used for the translocation of the docking module so that the interface of the core module in the main docking direction is free for next docking.In order to test the performance of the docking translocation mechanism on the ground,an inertia simulation test system is designed to perform the translocation arm performance test in the simulated space environment in the docking translocation process.This paper chooses the inertia simulation test system as the research objective,designs a mechanical inertia simulation system.In order to solve the shortcomings of the mechanical inertia simulation,the electrical inertia simulation test system is further studied.On the basis of analyzing the characteristics of the electrical inertia simulation test system,the controller is designed to solve the problem that the system control performance is poor and there is redundant torque.Finally the flywheel system for mechanical inertia simulation is designed,and through experiments the simulation effect of the mechanical inertia simulation and the electrical inertia simulation is compared.Firstly,the composition and working principle of the inertia simulation test system are analyzed,the flywheel inertia simulation system for the mechanical inertia simulation is designed,and the electrical inertia simulation system is further established.In the modeling,the mathematical model the permanent magnet synchronous motor is set up as the working motor.On this basis,the torque motor loading system and the indexing arm system are modeled respectively.Finally,the mathematical model of the electrical inertia simulation test system is obtained.Secondly,the characteristics of the forward channel and the redundant force channel are analyzed for the torque-motor loading system which is the main research object.By studying the influence of the torsion stiffness on the system control performance,it is put forward that choosing the torsion stiffness in an eclectic way will achieve the best performance.The redundant torque is analyzed,and the existence of redundant torque is verified by simulationThirdly,the controller is designed for the main control problem of the torque motor loading system.The differential feedback of the torque is used to improve the damping characteristic and the stability of the system.Then the PID control method is adopted so that the phase delay of the system is weakened,and the speed and accuracy of the system are improved remarkably.Aimed at restraining the redundant torque,the feedforward compensator based on the structural invariance principle is designed.The simulation results show that the suppression ratio of the redundant torque is more than 90%.Finally,the experiment of the mechanical inertia and electrical inertia simulation is carried out to verify the reliability of the designed inertia simulation system.By comparing the results of the two kinds of inertia simulation,it is pointed out that the electrical inertia simulation can replace the mechanical inertia simulation for engineering practice.