阅读说明：本技术 一种系绳张力控制装置及方法 (Rope tying tension control device and method ) 是由 吴源兵 刘定国 杨志达 方智毅 孙海林 叶甲秋 蒋彦超 于 2019-10-14 设计创作，主要内容包括：本发明公开了一种系绳张力控制装置及方法,该方法首先对系绳张力信号进行采集、放大、调理、滤波,确保有效的张力反馈值与张力闭环控制器给定的系绳张力值进行比较；根据张力偏差值进行系绳防碾压控制；当系绳张力发生较大的阶跃时,进行系绳张力超调抑制；为防止收绳或放绳过程中系绳松弛,采用了系绳防松弛控制；根据不同的张力值,采用分段PI控制；为避免系绳在不同速度下频繁切换导致状态突变,系绳驱动器在高速和低速运转时采用了不同的控制策略。采用上述方法解决了在空间环境下,宽范围温度变化时,系绳张力信号漂移、系绳多次动作后碾压破坏、张力超调、系绳松弛缠绕等问题。(The invention discloses a rope tension control device and a method, wherein the method comprises the steps of firstly, acquiring, amplifying, conditioning and filtering a rope tension signal, and ensuring that an effective tension feedback value is compared with a rope tension value given by a tension closed-loop controller; controlling the tether to prevent rolling according to the tension deviation value; when the tether tension has a large step change, performing tether tension overshoot suppression; in order to prevent the rope from loosening in the rope winding or unwinding process, the anti-loosening control of the rope is adopted; according to different tension values, sectional PI control is adopted; to avoid sudden changes in state caused by frequent switching of the tether at different speeds, the tether driver employs different control strategies for high and low speed operation. By adopting the method, the problems of tether tension signal drift, tether rolling damage after multiple actions, tension overshoot, tether loosening and winding and the like in a space environment and wide-range temperature change are solved.)

1. A tether tension control method for use in a towing process of an aircraft after capturing a target, comprising:

acquiring a tether tension signal, amplifying and conditioning the tether tension signal to obtain a tether tension feedback value;

comparing the tether tension feedback value with a tether tension value given by a tension closed-loop controller, and judging whether tether anti-rolling control is performed or not according to a comparison result;

comparing the magnitude of the tether tension value given by the tension closed-loop controller at two adjacent time points, and judging whether to perform tether tension suppression overshoot control or not according to the comparison result;

when the tether tension value given by the tension closed-loop controller is in a range of [0.5N,3.5N ], comparing the tether tension feedback value with the tether tension value given by the tension closed-loop controller, and judging whether to perform tether anti-loosening control according to a comparison result;

segmenting the tether tension value according to the tether tension value given by the tension closed-loop controller, and performing segmented PI control on the tether tension value by adopting a tether tension segment;

and according to the magnitude of the tether speed, performing high-speed and low-speed switching control on the tether driver by adopting a hysteresis control method.

2. The tether tension control method of claim 1, wherein the tether crush prevention control is specifically: calculating the tether tension feedback value F_feedbackAnd the sheetTether tension value F given by force closed loop controller_refDifference F of_errWhen the difference is | F_err|>At 0.5N, the difference F_errInputting the tension closed-loop controller, and adjusting the output of the tension closed-loop controller; when the difference value | F_err|<And when the voltage is 0.5N, the output of the tension closed-loop controller is unchanged and is consistent with the output of the previous period.

3. The tether tension control method according to claim 1, wherein the tether tension suppression overshoot control is specifically: comparing the tether tension value F at the current moment_ref(k) The value F of the tension of the tether at the previous moment_refSize of (k-1) | F_ref(k)-F_refAnd when the (k-1) | > 0.1N, applying preset speed feedforward to the tether driver, and adjusting the tether tension at the current moment to keep the tether stable.

4. The tether tension control method of claim 1, wherein the tether slack prevention control is specifically: calculating the tether tension value F given by the tension closed-loop controller_refAnd said tether tension feedback value F_feedbackDifference F of_errWhen said difference F_err<At 0.5N, adding 1 to the integral term output of the PI controller to reduce the rotating speed of the tether driver by 1 when the tether is retracted or add 1 to the rotating speed of the tether driver when the tether is released; when the difference F_err>And when the number of the rope is +0.5N, subtracting 1 from the integral term output of the PI controller, and adding 1 to the rotating speed of the rope tying driver during rope reeling or subtracting 1 from the rotating speed of the rope tying driver during rope unreeling.

5. The tether tension control method according to claim 1, wherein when the rotation speed of the tether driver is increased to 70rpm, switching to high speed control is performed; the high-speed control adopts a PI regulator, and the PI regulator outputs the current of the tether driver;

when the rotating speed of the tether driver is reduced to 60rpm, switching to low-speed control; the low-speed control changes an I integral term of the PI regulator into a position proportional term.

6. A tether tension control device, comprising:

the tension sensor is used for acquiring a tether tension signal;

the tension signal processor is used for amplifying and conditioning the tether tension signal acquired by the tension sensor to obtain a tether tension feedback value;

the tether anti-rolling module is used for comparing the tether tension feedback value with a tether tension value given by the tension closed-loop controller and judging whether tether anti-rolling control is performed or not according to a comparison result;

the tether tension suppression overshoot module compares the magnitude of the tether tension value given by the tension closed-loop controller at two adjacent time points, and judges whether tether tension suppression overshoot control is performed or not according to the comparison result;

the tether anti-loosening module is used for comparing the tether tension feedback value with the tether tension value given by the tension closed-loop controller when the tether tension value given by the tension closed-loop controller is in the range of [0.5N,3.5N ], and judging whether to perform tether anti-loosening control according to the comparison result;

the tether tension PI control module is used for segmenting the tether tension value according to the tether tension value given by the tension closed-loop controller and adopting tether tension segmented PI control;

and the high-low speed switching control module of the tether driver adopts a hysteresis control method to perform high-low speed switching control on the tether driver according to the tether speed.

7. The tether tension control device of claim 6, wherein the tension signal processor comprises a tension sensor power supply circuit, a tension sensor signal amplification circuit, and a tension sensor signal zeroing circuit;

the tension sensor power supply circuit mainly comprises an AD586 chip and an operational amplifier OP07 and supplies power to the tension sensor;

the tension sensor signal amplification circuit mainly comprises an instrument amplifier AD620 and a two-stage operational amplifier OP07, and reduces the interference of noise while amplifying signals, so that the requirement of output bandwidth is met;

the tension sensor signal zero setting circuit comprises hardware zero setting and software zero setting, and corrects the zero drift of the tension sensor signal.

Technical Field

The invention belongs to the field of design of control over flexible aircraft combination bodies based on tether connection, and particularly relates to a tether tension control device and method.

Background

The adoption of the space rope net to capture the non-cooperative target is a novel flexible capture mode, and has the advantages of long capture distance, large envelope range, weak coupling effect between aircrafts and the like. After the target capture is completed, the aircraft performs the towing mission using its own fuel. Tension control of a tether in the process of capturing target towing has an important influence on attitude stabilization of the aircraft, and is a key technology of on-rail towing of the aircraft.

The effective small tension action (1N magnitude) of the tether is kept for a long time in the towing process of the aircraft, the tether is a typical working state of the tether retraction control, and meanwhile, when the target nutation is restrained, the tether is expected to apply dynamic tension not greater than 50N to the target dynamically, so the tether retraction control needs to have the control requirements of various states such as small tension control, high-response large tension control and the like.

However, in practical applications, due to changes in the spatial environment and temperature, problems such as drift of the tether tension signal, crush damage after multiple actions of the tether, overshoot of tension, slack winding of the tether, and the like may occur.

Disclosure of Invention

The invention aims to provide a rope tension control device and method, which can prevent the rope from rolling and loosening and the like in a wide temperature range under a space environment.

In order to solve the problems, the technical scheme of the invention is as follows:

a tether tension control method for a towing process of an aircraft after capturing a target, comprising:

acquiring a tether tension signal, amplifying and conditioning the tether tension signal to obtain a tether tension feedback value;

comparing the tether tension feedback value with a tether tension value given by a tension closed-loop controller, and judging whether tether anti-rolling control is performed or not according to a comparison result;

comparing the magnitude of the tether tension value given by the tension closed-loop controller at two adjacent time points, and judging whether to perform tether tension suppression overshoot control or not according to the comparison result;

when the tether tension value given by the tension closed-loop controller is in a range of [0.5N,3.5N ], comparing the tether tension feedback value with the tether tension value given by the tension closed-loop controller, and judging whether to perform tether anti-loosening control according to a comparison result;

segmenting the tether tension value according to the tether tension value given by the tension closed-loop controller, and performing segmented PI control on the tether tension value by adopting a tether tension segment;

and according to the magnitude of the tether speed, performing high-speed and low-speed switching control on the tether driver by adopting a hysteresis control method.

According to an embodiment of the present invention, the tether anti-rolling control specifically comprises: calculating the tether tension feedback value F_feedbackA tether tension value F given by the tension closed loop controller_refDifference F of_errWhen the difference is | F_err|>At 0.5N, the difference F_errInputting the tension closed-loop controller, and adjusting the output of the tension closed-loop controller; when the difference value | F_err|<And when the voltage is 0.5N, the output of the tension closed-loop controller is unchanged and is consistent with the output of the previous period.

According to an embodiment of the present invention, the tether tension suppression overshoot control specifically includes: comparing the tether tension value F at the current moment_ref(k) The value F of the tension of the tether at the previous moment_refSize of (k-1) | F_ref(k)-F_refAnd when the (k-1) | > 0.1N, applying preset speed feedforward to the tether driver, and adjusting the tether tension at the current moment to keep the tether stable.

According to an embodiment of the present invention, the tether slack prevention control specifically includes: calculating the tether tension value F given by the tension closed-loop controller_refAnd said tether tension feedback value F_feedbackDifference F of_errWhen said difference F_err<At 0.5N, adding 1 to the integral term output of the PI controller to reduce the rotating speed of the tether driver by 1 when the tether is retracted or add 1 to the rotating speed of the tether driver when the tether is released; when the difference F_err>And when the number of the rope is +0.5N, subtracting 1 from the integral term output of the PI controller, and adding 1 to the rotating speed of the rope tying driver during rope reeling or subtracting 1 from the rotating speed of the rope tying driver during rope unreeling.

According to an embodiment of the present invention, when the rotation speed of the tether driver is increased to 70rpm, switching to high speed control is performed; the high-speed control adopts a PI regulator, and the PI regulator outputs the current of the tether driver;

when the rotating speed of the tether driver is reduced to 60rpm, switching to low-speed control; the low-speed control changes an I integral term of the PI regulator into a position proportional term.

A tether tension control device comprising:

the tension sensor is used for acquiring a tether tension signal;

the tension signal processor is used for amplifying and conditioning the tether tension signal acquired by the tension sensor to obtain a tether tension feedback value;

the tether anti-rolling module is used for comparing the tether tension feedback value with a tether tension value given by the tension closed-loop controller and judging whether tether anti-rolling control is performed or not according to a comparison result;

the tether tension suppression overshoot module compares the magnitude of the tether tension value given by the tension closed-loop controller at two adjacent time points, and judges whether tether tension suppression overshoot control is performed or not according to the comparison result;

the tether anti-loosening module is used for comparing the tether tension feedback value with the tether tension value given by the tension closed-loop controller when the tether tension value given by the tension closed-loop controller is in the range of [0.5N,3.5N ], and judging whether to perform tether anti-loosening control according to the comparison result;

the tether tension PI control module is used for segmenting the tether tension value according to the tether tension value given by the tension closed-loop controller and adopting tether tension segmented PI control;

and the high-low speed switching control module of the tether driver adopts a hysteresis control method to perform high-low speed switching control on the tether driver according to the tether speed.

According to an embodiment of the invention, the tension signal processor comprises a tension sensor power supply circuit, a tension sensor signal amplifying circuit and a tension sensor signal zero setting circuit;

the tension sensor power supply circuit mainly comprises an AD586 chip and an operational amplifier OP07 and supplies power to the tension sensor;

the tension sensor signal amplification circuit mainly comprises an instrument amplifier AD620 and a two-stage operational amplifier OP07, and reduces the interference of noise while amplifying signals, so that the requirement of output bandwidth is met;

the tension sensor signal zero setting circuit comprises hardware zero setting and software zero setting, and corrects the zero drift of the tension sensor signal.

Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:

1) in the tether tension control method in one embodiment of the invention, a tether tension signal is collected, amplified, conditioned and filtered to ensure that an effective tension feedback value is compared with a tether tension value given by a tension closed-loop controller; controlling the tether to prevent rolling according to the tension deviation value; when the tether tension has a large step change, performing tether tension overshoot suppression; in order to prevent the rope from loosening in the rope winding or unwinding process, the anti-loosening control of the rope is adopted; according to different tension values, sectional PI control is adopted; to avoid sudden changes in state caused by frequent switching of the tether at different speeds, the tether driver employs different control strategies for high and low speed operation. By adopting the method, the problems of tether tension signal drift, tether rolling damage after multiple actions, tension overshoot, tether loosening and winding and the like in a space environment and wide-range temperature change are solved.

2) According to the tether tension control method in the embodiment of the invention, the tether is controlled to prevent rolling repeatedly in the tension control process, so that the tether is prevented from being damaged or the number of times of winding and unwinding the tether is reduced, and the service life of the tether is prolonged.

3) In the tether tension control method in an embodiment of the invention, since the tether is subjected to tension suppression overshoot control, the rise time of the step response is optimized under the condition of ensuring the steady-state error of the tension control.

4) In the method for controlling the tension of the tied rope in the embodiment of the invention, the tied rope is subjected to anti-loosening control, so that the tied rope can be quickly wound before falling off to keep a tensioning state, and the phenomenon that the tied rope is clamped in a mechanism due to the fact that the tied rope is too loosened due to tension fluctuation is avoided.

Drawings

FIG. 1 is a block diagram of a tether tension control method in one embodiment of the present invention;

fig. 2 is a schematic flow chart of a tether tension control method according to an embodiment of the invention;

FIG. 3 is a schematic diagram illustrating the control of high-speed and low-speed switching of the tether according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a tether tension control device in an embodiment of the present invention;

fig. 5 is a circuit diagram of a tension signal amplifying and conditioning circuit in the tether tension control device according to an embodiment of the present invention.

Description of reference numerals:

1: controlling the tether to prevent rolling; 2: tether tension suppression overshoot control; 3: controlling looseness of the tied rope; 4: and (4) segmented PI control of tether tension.

Detailed Description

The present invention provides a rope tension control device and method, which will be described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.