CN104669279A

CN104669279A - Spatial manipulator joint controller with automatic temperature controlling function

Info

Publication number: CN104669279A
Application number: CN201410438333.2A
Authority: CN
Inventors: 刘嘉宇; 姜迪开; 李超; 刘志蕾; 范庆麟; 曹巳甲; 杨帆
Original assignee: Beijing Research Institute of Precise Mechatronic Controls
Current assignee: Beijing Research Institute of Precise Mechatronic Controls
Priority date: 2014-08-29
Filing date: 2014-08-29
Publication date: 2015-06-03
Anticipated expiration: 2034-08-29
Also published as: CN104669279B

Abstract

The invention relates to a spatial manipulator joint controller with an automatic temperature controlling function, in particular to a joint controller used for a spatial manipulator in medium-short-term on-orbit operation. The spatial manipulator joint controller is capable of identifying temperature and heating automatically, so that viability of the spatial manipulator under severe spatial environment is enhanced greatly.

Description

A kind of space manipulator joint control with active temperature control function

Technical field

The present invention relates to a kind of space manipulator joint control with active temperature control function, and particularly a kind of joint control for a middle or short term of operating space mechanical arm in-orbit, this controller has active temperature identification and autonomous heating efficiency, greatly improves the survival ability of product under the adverse circumstances of space.

Background technology

The step explored along with the mankind strides forward towards more far-reaching space, the unmanned systems turning to representative with automation and intelligence is replacing the mankind to become the soldier at the head of a formation of survey of deep space, because of space environment very severe, high/low temperature, space radiation, condition of high vacuum degree, so the joint servo control device that compact conformation, environmental suitability are strong, servo performance is excellent directly determines the power of space application machine arm work capacity.

Joint control is as the important component part of space manipulator, upwards resolve control instruction with motion controller data interaction, downward collection joint heat transfer agent, control rate of carrying out are resolved and driving joint servo control mechanism, are important control and the driven unit of Modularized joint of space manipulator.

Under the particular surroundings in space, often larger variations in temperature occurs, mechanical arm operates in the environment that the temperature difference is larger, and mechanical part is easy to lose efficacy due to the great variety of temperature.Therefore be operating robotic arm under space environment, need that temperature is carried out to the critical component of mechanical arm and regulate protection.

Summary of the invention

The problem that technology of the present invention solves is: the joint control devising a applicable a middle or short term of operating robotic arm in-orbit, severe space environment can be adapted to, by sensing and the structure of environment temperature, obtain the integrated temperature information of intra articular, and make decisions on one's own on this basis and heat, prevent that temperature is too low causes equipment failure.When temperature is too high, takes passive heat guard technology that intra articular temperature is controlled in the reasonable scope, prevent equipment high temperature failure.

Technical characterstic of the present invention is as follows:

1. propose a kind of design being applicable to the active temperature control device of earth LEO application.

2., on the basis of active temperature control device, propose the autonomous method for managing temperature of a kind of unmanned intervention.Thus can ensure that intra articular environment temperature is in good scope, strengthens its survival ability to greatest extent.

3. invented a kind of cascade machine mechanical arm joint control being integrated with above-mentioned active temperature control device, it can adapt to the severe high and low temperature environment of space orbit to greatest extent, extends the service ability in-orbit of system.

This technical scheme, compared with the scheme of existing home and abroad, overall target can improve, and advantage of lower cost, basic technology is more ripe, easily realizes.

Accompanying drawing explanation

Present by present invention is described by reference to the accompanying drawings, wherein:

Fig. 1 joint control composition frame chart

Fig. 2 joint of mechanical arm controller architecture is overall

Fig. 3 joint of mechanical arm controller architecture exploded view

Fig. 4 joint of mechanical arm controller radiating principle figure

Fig. 5 joint of mechanical arm controller principle of heating figure

Detailed description of the invention

Joint control forms primarily of following components, as shown in Figure 1: power converting circuit, DSP and peripheral circuit thereof, dual-redundant CAN bus interface circuit, revolve become excitatory decoding circuit, HALL decoding circuit, displacement of the lines power Acquisition Circuit, current sense and Acquisition Circuit, TEMP and Acquisition Circuit, moment sensing Acquisition Circuit, signal conversion and modulate circuit, motor drive inverter.

Wherein DSP and peripheral circuit thereof are the core parts of servo-driver, for performing control algolithm, for ensureing this proper device operation, are designed with electrify restoration circuit and crystal oscillating circuit; CAN interface circuit design has been used for the CAN communication between joint control and host computer, is to ensure communication function reliability, have employed the Redundancy Design of two CAN communication, if a bus malfunctions, can automatically switch to another bus; Devise the R/D change-over circuit be made up of decoding chip and peripheral operational amplifier modulate circuit thereof; Power converting circuit design have employed the high efficiency power modules such as 28V/+5V, 28V/+15V; And signal conditioning circuit, electric current and voltage sampling circuit and power driving circuit etc.For considering the impact of drive part on control section and signals collecting part, taking the mode of Magnetic isolation, control is kept apart with Power Groud, effectively reduce power section noise to the impact of control circuit.And at power supply side, to control section, independently Liang Zu supply line be have employed to drive part.Ensure that the change of power circuit electric current, voltage and the HF switch action of power device can not interfere with control unit.

The application forms primarily of temperature detection, temperature control decision-making and controllable heater three part the heat protection design of joint control.As shown in the joint control overall structure schematic diagram of accompanying drawing 2.What temperature sensor adopted is MAXIM18B20 chip type temperature sensor, 4 sensor part are deployed in the diverse location of intra articular, detect acquisition controller Primary Component and system ambient temperature, by information processing and data fusion, joint temperature field information is reconstructed, using the initial conditions as temperature decision-making, when drawing the decision-making of active heated by joint control, utilize heating plate to heat to temperature control plate, retentive control actuator temperature is unlikely to too low.

Temperature decision-making level (i.e. processor CPU) utilizes temperature field information to evaluate space environment residing for current joint controller, whether carries out active heated control to make, and the decision conclusions of computer heating control intensity etc.

The calculating conclusion of controllable heater Gen Ju temperature decision-making level, the thermal output that adds carrying out being deployed in IA 3 heaters controls to drive.Meanwhile, temperature detection layer real-time sensing, evaluation heat efficiency, and feed back decision-making level, thus realize autonomous temperature controlled object.

As shown in Figure 3, annular mechanical tube wall 1 and circular machinery arm base form a space for placing described joint of mechanical arm controller.Described joint control is superimposed with the identical metal thermal control plate 2 of profile successively, upper electric heating sheets 3, control panel 4, lower electric heating sheets 3 ' are the vitals on protecting control plate; each parts arrange the heat conductive isolation sheet that shape is identical with these parts, is subject to heat effect with peventing member.

Accompanying drawing 4,5 shows radiating principle figure and the principle of heating figure of joint of mechanical arm controller, and arrow is depicted as the path of hot-fluid transmission, i.e. the direction of heat energy flowing.Wherein metal thermal control plate is for dredging the heat of controller, and the heat of heating plate can be passed to controller.Meanwhile, joint control is provided with heat conductive insulating pad.When ambient temperature or joint temperature higher time, joint control makes decisions and to dispel the heat to it.Now the heat of heater members upwards conducts through electric heating sheets, and enters and be dispersed on metal thermal control plate, realizes dispersing of heat.And when ambient temperature or joint temperature lower need heating time, heater members generates heat, thus heats control panel.

Claims

1. one kind has the space manipulator joint control of active temperature control function, it forms primarily of following components, power converting circuit, DSP and peripheral circuit thereof, dual-redundant CAN bus interface circuit, revolve become excitatory decoding circuit, HALL decoding circuit, displacement of the lines power Acquisition Circuit, current sense and Acquisition Circuit, TEMP and Acquisition Circuit, moment sensing Acquisition Circuit, signal conversion and modulate circuit, motor drive inverter.

2. a kind of space manipulator joint control with active temperature control function according to claim 1, wherein said DSP and peripheral circuit thereof are the core parts of servo-driver, for performing control algolithm.

3. a kind of space manipulator joint control with active temperature control function according to claim 1, the CAN communication that wherein said CAN interface circuit design has been used between joint control and host computer, for ensureing communication function reliability, have employed the Redundancy Design of two CAN communication.

4. a kind of space manipulator joint control with active temperature control function according to claim 1, wherein for considering the impact of drive part on control section and signals collecting part, take the mode of Magnetic isolation, and have employed independently Liang Zu supply line to drive part to control section at power supply side, the change of guaranteed output circuital current, voltage and the HF switch action of power device can not interfere with control unit.

5. a kind of space manipulator joint control with active temperature control function according to claim 1, wherein the heat protection design of this joint control is primarily of temperature detection, temperature control decision-making and controllable heater three part composition.

6. a kind of space manipulator joint control with active temperature control function according to claim 1; wherein the temperature barrier of this controller is made up of the identical metal thermal control plate 2 of the profile superposed successively, upper electric heating sheets 3, control panel 4, lower electric heating sheets 3 '; two panels heating plate is the device heats control panel from upper and lower both direction; and be the vitals on protecting control plate; each parts arrange the heat conductive isolation sheet that shape is identical with these parts, to strengthen the heat-exchange capacity between these parts and metal thermal control plate.