论文标题
可部署的双曲线抛物线电缆网的设计和控制分析
Design and control analysis of a deployable clustered hyperbolic paraboloid cable net
论文作者
论文摘要
本文根据聚类致动策略提供了双曲线抛物线电缆网的分析和实验设计和部署控制分析。首先，给出了聚类张力结构（CTS）的动力学和静态。然后，我们提出了可部署双曲线抛物线电缆网的拓扑设计。电缆网的可部署性是通过使用簇电缆实现的。结果表明，聚集的电缆可显着减少控制器所需的执行器数量。电缆中的部署轨迹和驱动预应力旨在确保部署过程中的紧张局势是可行的。然后，我们比较部署分析的开环和闭环控制策略。最后，构建了实验室规模的模型来验证致动法律。我们测试了实验模型的静态性能和部署过程。结果表明，在部署过程中，闭环控制方法比开循环的方法更稳定，更光滑。本文开发的方法也可以用于各种可部署的张力结构。
This paper presents an analytical and experimental design and deployment control analysis of a hyperbolic paraboloid cable net based on clustering actuation strategies. First, the dynamics and statics for clustered tensegrity structures (CTS) are given. Then, we propose the topology design of the deployable hyperbolic paraboloid cable net. The deployability of the cable net is achieved by using clustered cables. It is shown that the clustered cables significantly reduce the number of actuators required for control. The deployment trajectory and actuation prestress in the cables are designed to ensure the tensions are feasible during the deployment process. Then, we compare the deployment analysis's open-loop and closed-loop control strategies. Finally, a lab-scale model is constructed to validate the actuation laws. We test the static performance and deployment process of the experimental model. Results show that the closed-loop control approach is more stable and smoother than the open-loop one in the deployment process. The approaches developed in this paper can also be used for various deployable tensegrity structures.
