Design Of Control System And Research Of Control Strategy On Multi-axis Pose Adjustment Equipment

The intelligent assembly of aerospace equipment is an important guarantee for the development of the aerospace industry.As one of the important members of aerospace equipment,satellites need to be able to achieve precise docking by adjusting their pose in the process of hoisting solar arrays.By the traditional assembly technology,the process relies on the operators to manually adjust the support legs of the satellite transfer vehicle,which has the disadvantages of low assembly efficiency and poor docking accuracy.In the current high-speed development of science and technology,an automatic pose adjustment system is urgently needed to improve the docking and assembly efficiency of satellite and solar arrays.For this reason,this paper takes multi-axis pose adjustment equipment as the research object,and conducts related research on its electrical and software systems,control strategies,mechatronics simulation,etc.The main research contents are as follows:Based on the theory of parallel mechanism,the overall structure of the multi-axis pose adjustment equipment control system is constructed,and the servo control unit selection is analyzed according to the mechanical structure.The on-off control circuit of the equipment,the power supply circuit of the drive unit and the signal circuit of the control unit are designed.According to the system leveling requirements,the sensor selection is researched.Based on the secondary development of the open controller,the parameter configuration of the controller and the driver is discussed.According to the process of the controller performing the kinematics program,the kinematics and motion programming method is proposed.A desktop upper software based on the VB.NET is developed for the human-computer interaction function of the system.Based on the pose transformation,the principle of leveling of the multi-axis pose adjustment system is deduced.The docking algorithm is proposed according to the assembly process of the solar wing.The transformation formula from the three-point coordinates to the measurement point pose is derived,and the controller parameters are calculated from the initial and final poses.The offset matrix from the moving platform to the measuring point is analyzed and calibrated.The correctness of the algorithm is verified by an example.A kinematics-driven lifting and leveling motion strategy is proposed,and parameter control,incremental control and automatic tracking control strategies are proposed.The system starting and stopping strategies are formulated,and the three-level limit protection structure and limit processing flow are constructed.The fault diagnosis of the system is analyzed,and the fault recovery function is achieved based on the encoder data acquisition method.Based on Simscape,multi-domain physical system modeling and simulation tool,the simulation technology of mechanical system and electrical system of multi-axis pose adjustment equipment is developed.The measurement and calibration experiments are carried out on the bar lengths of the mechanism,and the control accuracy and driving resolution of the equipment are experimentally researched.The force balance processing is analyzed by measuring the torques of the vertical motion pair motors.The experimental results verify that the multi-axis pose adjustment equipment meets the design specifications and has better pose adjustment efficiency.