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Research on the configuration of cable-driven parallel robots for vibration suppression of spatial flexible structures

机译：电缆驱动的平行机器人配置用于空间柔性结构的振动抑制

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Specific satellites with ultra-long wings easily suffer from violent vibrations caused by the external disturbance and self-rotation, which do harm to flexible wings and affect the normal operation of satellites. In severe cases, the satellites would be damaged. Therefore, achieving rapid vibration suppression is particularly critical. Besides, to protect flexible wings from damage and reduce energy consumption, the control force should be small. Considering the above two issues comprehensively, a scheme using cable-driven parallel robots (CDPRs) to suppress vibrations is proposed. Furthermore, the influence of different configurations of CDPRs on the control effect is studied in the paper. First, the dynamic model of the CDPR which is comprised of four cables and a flexible structure is established using the finite element method. Then, the dynamic behavior of the model under the controllable cable force is analyzed by the Newmark-beta method. An optimization index including the settling time, the maximum cable force and energy consumption is presented. Based on the index, six kinds of CDPRs with different configurations are tested under the control of the proposed Fuzzy-PID method and an active control method, respectively. As a comparison, a passive control scheme is also tested. Finally, numerical simulations are implemented to evaluate the effect of the vibration suppression, and the results are satisfactory. (c) 2020 Elsevier Masson SAS. All rights reserved.
机译：具有超长翼的特定卫星容易遭受由外部干​​扰和自旋转引起的剧烈振动，这会对柔性翼造成伤害并影响卫星的正常操作。在严重的情况下，卫星将受损。因此，实现快速振动抑制尤为关键。此外，为了保护柔性翅膀免受损坏和降低能耗，控制力应小。综合地考虑到上述两个问题，提出了一种使用电缆驱动的并行机器人（CDPR）来抑制振动的方案。此外，在纸张中研究了CDPRS不同配置对控制效果的影响。首先，使用有限元方法建立由四根电缆和柔性结构组成的CDPR的动态模型。然后，通过Newmark-Beta方法分析可控电缆力下的模型的动态行为。提供了一种包括沉降时间，最大电缆力和能量消耗的优化指数。基于该指数，分别在所提出的模糊PID方法和主动控制方法的控制下测试具有不同配置的六种CDPRS。作为比较，还测试了无源控制方案。最后，实现了数值模拟以评估振动抑制的效果，结果令人满意。 （c）2020 Elsevier Masson SAS。版权所有。

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