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通过对绳索联动机构(CCL)进行等效简化,分析CCL同步展开机理,并建立数学模型。详细推导了含CCL联动系统的动力学方程,以某型太阳帆板展开同步性为例,仿真分析展开动力学过程以及大幅不同步产生的原因。以整个展开过程中最大不同步量最小为优化目标,建立联动系统优化模型,并采用序列二次规划算法(SQP)对驱动力矩参数进行了优化设计。相对驱动力矩为正值的传统设计方法,根部驱动力矩为负值的优化结果有效降低联动绳索负载,改善了太阳帆板展开同步性。
Through the equivalent simplification of cable linkage (CCL), the mechanism of CCL synchronization is analyzed and a mathematical model is established. The kinetic equations of the CCL linkage system are deduced in detail. Taking the synchronization of a certain type of solar panel as an example, the dynamic process and the reason for the substantial non-synchronization are simulated and analyzed. In order to minimize the maximum unsynchronized amount during the entire deployment, an optimization model of linkage system was established and the drive torque parameters were optimally designed by the sequential quadratic programming (SQP) algorithm. The traditional design method that the relative driving torque is positive, the optimization result that the driving torque at the root is negative effectively reduces the load on the linkage rope and improves the synchronism of the solar sailboard.