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工程设计学报
Chin J Eng Design  2022, Vol. 29 Issue (6): 676-683    DOI: 10.3785/j.issn.1006-754X.2022.00.091
Design Theory and Method     
Six-point leveling algorithm and synchronous control method for horizontal rotating equipment of space station cabin
Ming-yan REN(),Xu TAN,Ting ZENG,Rong WANG,Hai-yue LI
Beijing Satellite Manufacturing Factory Co. , Ltd. , Beijing 100094, China
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Abstract  

Aiming at the problem that the horizontal rotating equipment of space station cabin is easy to deform in the length direction after bearing load of 30 t, a six-point leveling algorithm and synchronous control method was proposed. On the basis of installing one screw lifting outrigger at each of the four corners of the original horizontal rotating equipment of space station cabin, one screw lifting outrigger was added at the center of two long sides, and the levelness of the horizontal rotating equipment upper plane was within 0.001° through the coordinated control of the height of each screw lifting outrigger, so as to ensure the centroid stability and no structure deformation of the space station cabin. At the same time, the feasibility of six-point leveling algorithm and synchronous control method was verified by theoretical simulation. The experimental test showed that the proposed method had good leveling effect, and the synchronous control error of six screw lifting outriggers was less than 8 ms; after leveling, the maximum error of upper plane levelness of the horizontal rotating equipment was 0.000 8°, and the maximum deformation was 0.074 mm, which could be ignored and met the expected goal. The results showed that the application of the six-point leveling algorithm and synchronous control method effectively avoided the deformation in the length direction of the horizontal rotating equipment of space station cabin after bearing load of 30 t, improved the levelness of the horizontal rotating equipment and extended its service life, and ensured the centroid stability of the space station cabin after it was placed on the horizontal rotating equipment, which could provide technical support for the subsequent space station assembly process.

Key words： space station cabin      horizontal rotating equipment      six-point leveling algorithm      synchronous control method      levelness     
Received: 29 January 2022      Published: 06 January 2023
CLC:  TH 115  
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Ming-yan REN
Xu TAN
Ting ZENG
Rong WANG
Hai-yue LI
Cite this article:

Ming-yan REN,Xu TAN,Ting ZENG,Rong WANG,Hai-yue LI. Six-point leveling algorithm and synchronous control method for horizontal rotating equipment of space station cabin. Chin J Eng Design, 2022, 29(6): 676-683.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.091     OR     https://www.zjujournals.com/gcsjxb/Y2022/V29/I6/676


空间站舱体水平旋转装备六点调平算法及同步控制方法

针对空间站舱体水平旋转装备负载30 t后在长度方向上易产生变形的问题，提出了六点调平算法及同步控制方法。在原有空间站舱体水平旋转装备的4个边角处各安装1条螺旋升降支腿的基础上，在2条长边的中心位置处各增加1条螺旋升降支腿，通过协同控制各螺旋升降支腿的高度，使得水平旋转装备上平面的水平度达到0.001°以内，以确保空间站舱体的质心稳定以及结构不发生变形。同时，利用理论仿真验证了六点调平算法及同步控制方法的可行性。经实验测试，所提出方法的调平效果良好，6条螺旋升降支腿的同步控制误差小于8 ms；调平后水平旋转装备上平面水平度的最大误差为0.000 8°，最大变形量为0.074 mm，可忽略不计，符合预期目标。结果表明，六点调平算法及同步控制方法的应用有效避免了空间站舱体水平旋转装备负载30 t后在长度方向上产生变形的问题，提高了水平旋转装备的水平度并延长了其使用寿命，同时确保了空间站舱体放置在水平旋转装备上后质心稳定，这可为后续的空间站总装过程提供技术保障。


关键词： 空间站舱体,  水平旋转装备,  六点调平算法,  同步控制方法,  水平度 
Fig.1 Six-point leveling principle for horizontal rotating equipment of space station cabin
Fig.2 Hardware composition of control system of horizontal rotating equipment of space station cabin based on six-point leveling
Fig.3 Schematic of upper plane attitude of horizontal rotating equipment of space station cabin
情况α1、 α2、 β1的大小与方向最高支腿
1α1<0°， α2<0°， β1>0°支腿1
2α1<0°， α2>0°， |α1|>|α2|， β1>0°
3α1<0°， α2<0°， β1<0°支腿2
4α1<0°， α2>0°， |α1|>|α2|， β1<0°
5α1>0°， α2<0°， β1>0°支腿3
6α1>0°， α2<0°， β1<0°支腿4
7α1>0°， α2>0°， β1>0°支腿5
8α1<0°， α2>0°， |α2|>|α1|， β1>0°
9α1>0°， α2>0°， β1<0°支腿6
10α1<0°， α2>0°， |α2|>|α1|， β1<0°
Table 1 Relationship between upper plane angle of horizontal rotating equipment of space station cabin and the highest outrigger
Fig.4 Changing trend of α1, α2, β1 after leveling under the first type of attitude (with the highest outrigger 5)
Fig.5 Changing trend of α1, α2, β1 after leveling under the second type of attitude (with the highest outrigger 3)
Fig.6 Principle of six-point leveling synchronous control based on cross coupling
Fig.7 Synchronous error coupling model of outrigger 1
Fig.8 Physical object of horizontal rotating equipment of space station cabin
Fig.9 Speed curve of outrigger motor without/with cross coupling synchronous control
Fig.10 Changing trend of α1, α2 and β1 during the first leveling process
Fig.11 Changing trend of α1, α2, and β1 during the second leveling process
实验序号调平后的α1、 α2、 β1/(°)
1α1=0.000 7， α2=0.000 4， β1=0.000 8
2α1=-0.000 5， α2=-0.000 4， β1=0.000 3
3α1=0.000 4， α2=-0.000 6， β1=-0.000 3
4α1=-0.000 4， α2=-0.000 5， β1=-0.000 4
5α1=0.000 8， α2=0.000 2， β1=-0.000 6
6α1=0.000 5， α2=-0.000 4， β1=0.000 4
7α1=-0.000 2， α2=0.000 5， β1=-0.000 5
8α1=-0.000 6， α2=-0.000 3， β1=0.000 5
9α1=-0.000 5， α2=0.000 7， β1=-0.000 3
10α1=-0.000 5， α2=0.000 8， β1=0.000 5
Table 2 Final value of α1, α2, and β1 after each leveling experiment
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