In this paper, a method of using a root hinge drive assembly （RHDA） to control the solar array deployment is provided and a multi-DOF mechanism dynamic model of the system is established. In this way, the root hinge...In this paper, a method of using a root hinge drive assembly （RHDA） to control the solar array deployment is provided and a multi-DOF mechanism dynamic model of the system is established. In this way, the root hinge torque can be calculated iteratively. Then taking the predicted torque as a reference, a RHDA is designed for a large multiple-stage packaging and deployable solar array system. The control effect of the drive assembly is validated by ground tests. The test results indicate that the solar arrays can be deployed smoothly, and the deployment velocities are restricted by the drive assembly as expected. During the tests, the RHDA output speed and output torque are obtained. In order to examine the impact force when the yoke is lock-up with a hard stop, dynamics simulations are performed according to the actual behavior. The simulation result indicates that the designed RHDA reduces the impact force significantly and improves the lock-up reliability effectively.展开更多
This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite...This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite element method software. Due to the special structure of the actuator,the Euler angles are adopted for deriving the kinematics and dynamic model. To reduce the effects of uncertainties of modeling error,nonlinear friction and external disturbances in the system,an approximation of neural network adaptive control method is applied to the actuator. The computation and simulation results show that the proposed analysis and control method can effectively derive the characteristics and improve the motion performance,which provides the primary theoretical guide for the configuration design,optimization and control research of multi-DOF deflection type actuators.展开更多
基金Ph.D. Programs Foundation of Ministry of Education of China (200800060009)
文摘In this paper, a method of using a root hinge drive assembly （RHDA） to control the solar array deployment is provided and a multi-DOF mechanism dynamic model of the system is established. In this way, the root hinge torque can be calculated iteratively. Then taking the predicted torque as a reference, a RHDA is designed for a large multiple-stage packaging and deployable solar array system. The control effect of the drive assembly is validated by ground tests. The test results indicate that the solar arrays can be deployed smoothly, and the deployment velocities are restricted by the drive assembly as expected. During the tests, the RHDA output speed and output torque are obtained. In order to examine the impact force when the yoke is lock-up with a hard stop, dynamics simulations are performed according to the actual behavior. The simulation result indicates that the designed RHDA reduces the impact force significantly and improves the lock-up reliability effectively.
基金Sponsored by the National Natural Science Foundation of China(Grant No.51107031,50677013)the Natural Science Foundation of Hebei Province of China(Grant No.E2009000703)
文摘This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite element method software. Due to the special structure of the actuator,the Euler angles are adopted for deriving the kinematics and dynamic model. To reduce the effects of uncertainties of modeling error,nonlinear friction and external disturbances in the system,an approximation of neural network adaptive control method is applied to the actuator. The computation and simulation results show that the proposed analysis and control method can effectively derive the characteristics and improve the motion performance,which provides the primary theoretical guide for the configuration design,optimization and control research of multi-DOF deflection type actuators.
