Mathematical model of electromechanical multicoordinate force-compensation systems

Abstract

One of the methods of construction simulators for training astronauts is the use of weightlessness simulators implemented with the help of multicoordinate force-compensation systems (FCS) which ensure freedom of object up to six degrees. It is advisable to provide the implementation degrees of freedom with the sum of three translational, mutually orthogonal motions 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 defined the assumptions used under the creation of mathematical description of mechanical part of FCS. Based on these assumptions and the selection of four main elements which interact with each other, we got the equations, describing interconnected change of forward co-ordinates when external force-action affects object. Considering principles of electric motor control, analysis of physical processes in mechanical part of FCS, it was proved that it is advisable to represent the mathematical description of co-ordinates of FCS with the help of unified double-mass electromechanical model with flexible coupling.
In our paper we also present the analytical expressions for determination of parameters of unified mathematical model, and consider methods of identification of elastic-dissipative properties of mechanical gearing and forces of friction in FCS. By the example of complex “Sarmat” we showed the determination of parameters of mathematical model for vertical and horizontal travels.