Currently,the suspension-typed constant tension system characterized with micro-low gravity simulation often uses the force sensor values as the feedback to directly control the system,but in reality,the force as the feedback signal often pro-duces sudden changes,which affects the system's accuracy in controlling.In this article,in order to improve the system's poor stability with the rigid control strategy and reduce the large force error with the large impact,efforts are made to design a constant tension system which contains a quasi-zero stiffness mechanism.By controlling the length of the quasi-zero stiffness mechanism,the output tension exerted on the constant tension system is indirectly controlled.The analysis is conducted on the force exerted on the quasi-zero stiffness mechanism,in order to work out the key influencing factors of the mechanism's performance and working stroke range;besides,the dynamic model of the constant tension system is set up,and the control system is designed.In order to figure out the system's accuracy in controlling and anti-interference performance,the dynamic joint simulation is conducted to verify the design.The simulation results show that the error of the force exerted on the constant tension system can be controlled within 2％,and the system has good robustness.
维普
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