关键词: 天线, 动力学, 运动控制, 运动规划, 力控制

Abstract:

Based on the Lagrange method in multibody dynamics systems and using absolute generalized coordinates, a dynamics model for the hoop truss deployable antenna is established which takes into consideration the dissipative force, torque of torsional spring in hinges and the pre-tension forces in cables. The force-controlled method is presented to control the deployment motion, and the relation between the driving force and the deployment motion is derived. The variation of the driving force is obtained according to the planned deployment motion. The deployment dynamic of a hoop truss deployable antenna is simulated, and the effects of initial velocity, damp, and gravity upon deployment are summarized. Deployment dynamic analysis and control of the hoop truss deployable antenna are carried out taking into account the stiffness of torsional spring, damp in hinges, gravity, and the pre-tension forces in cables. The results of experiment simulation validated the proposed method.

Key words: antennas, dynamics, motion control, motion planning, force control