Автоматическая система обезвешивания крупногабаритных трансформируемых конструкций при раскрытии

Results of development and experimental testing of active gravity compensation system for large-size transformable are presented. The developed system is intended for the use in ground experimental adjustment of transformed deployable umbrella-type reflectors with a diameter of up to 48 meters. Mathematical modeling and experimental testing confirm the system usability and efficiency. The system provides compensation of gravity action on large-size transformable cylindrically symmetric constructions consisting of up to several tens of non-transformable moving parts. A digital control system allows flexible variation of the testing parameters and the tested object configuration. Application of specialized control algorithms can almost completely compensate for the friction forces inherent in kinematic scheme of the gravity compensation system and therefore reduce drastically the time of the system adjustment and preparation for testing. Preliminary experimental studies show that under gravity-compensation action on the non-transformed part weighting up to 10 kg and moving with the linear speed of 2 m/min, the effective average value of residual uncompensated gravity force does not exceed 0.07 N.