Control On Supprot System With Flexible Clamping Function

In recent years,the aerospace industry has grown rapidly under the promotion of social progress and the satellite demand has also increased greatly.As a very important step in the process of satellite production,satellite assembly must upgrade continuously to meet the increasing demand.We research and design a set of support system with flexible clamping function oriented to the step of satellite production to realize the function for satellite assembly and meet the target requirements given by users.This system quickly complete the supporting function of satellite parts and improve the speediness and reliability of assembly under the premise of high precision.Firstly,this article gives the whole design scheme of the support system with flexible clamping function.According to the function,the system is divided into four parts: auxiliary support system,self-walking system,automatic leveling system and human-computer interaction system.Then according to the index parameters given by the user,we can complete the selection of system components.Secondly,we design of the control scheme according to the running characteristics of each part,build the hardware control circuit and compile the control program:1.Design of the control scheme.When it comes to the auxiliary support system,in order to meet the requirements of high precision and high speed at the same time,the control system of this part is designed as a two-loop control system and to avoid the satellite parts damage due to the deformation,we design a set of control schemes for the micro grippers which responsible for supporting and fixing the satellite parts to keep the4 grippers always synchronous.When it comes to the self-walking system,we consider how to control the steering wheel system to complete forward,translation,in-situ rotation and steering functions.For the automatic leveling system,a control scheme is designed to ensure that the platform will not overturn and cause assembly accidents during the leveling process.2.Build the hardware control circuit.When designing the hardware circuit,we choose PCM3343-PC104 as the main board of the main control circuit and design the power circuit,angle measurement(displacement measurement)circuit,high speed serial communication circuit,drive system circuit,protection circuit and other modules to accomplish the system function.3.Compile the control program.The software program assists the hardware circuit to complete the software communication between the human-computer interaction system and the local control system and ensure that the local control system based on PC/104 can control the components of the system to perform their respective functions.Finally,according to the general design scheme of the support system with flexible clamping function,we build the platform and verify its operation effect in the actual assembly site.Each function of the system can be completed normally and reach the customer’s acceptance standard by inspection.