Abstract
Weightlessness simulators implemented with the use of multicoordinate force compensation systems (FCS) providing up to six degree of mobility of the object are used to train astronauts for extravehicular activity. The implementation of submotion at them is provided by the sum of three orthogonally related movements as well as the rotation and rolling of object in gimbal. It is necessary to create mathematical model, which describes force-interaction of multicoordinate FCS correctly in order to implement complex researches, control system synthesis, control static and dynamic indices of FCS work.
In our paper we formulated the assumptions used under the creation mathematical description of mechanical part of FCS. Four major interconnected elements were selected: a bridge, a truck, a drum and an offload object. The equations were obtained using the method of elementwise evaluation, which describes the coupled motion of the coordinates of the FCS on application of the external force to the object. With account for the control principles by electric motor and analysis of physical processes in the mechanical part of FCS, the authors substantiated the rationale of presenting the mathematical description of each coordinates of the FCS in terms of a generic two-mass electromechanical model with springy constraint.
In our paper we presented the analytical expressions for determination parameters of generic mathematical model and considered coordinates influence during the change of parameters and force interaction is also considered. Experimental researches of force interaction for the case of offload device when applying parameters of control object are considered.
Keywords
Weightlessness simulators, simulator, imitation weightlessness, force control, mathematical model.
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