用于微低重力模拟装置的主动补偿控制方法  

Study on Active Compensation Methods for Micro-low Gravity Simulation Device

作　　者：权宇超 兰超 韩大鹏 王兆魁[2] QUAN Yuchao;LAN Chao;HAN Dapeng;WANG Zhaokui(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116,China;School of Aerospace Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350116 [2]清华大学航天航空学院,北京100084

出　　处：《载人航天》2023年第1期16-21,共6页Manned Spaceflight

基　　金：载人航天领域预先研究项目(020201)。

摘　　要：针对一类微低重力模拟装置因惯性力和弹簧重力导致模拟精度受限的问题,研究采用主动补偿装置改善模拟精度的控制方法。基于势能守恒原理和第二类Lagrange方程建立了考虑弹簧重力的动力学模型,采用三阶观测器对模拟装置内的关节速度、加速度进行观测,两者结合给出了弹簧重力及系统惯性力补偿模型。以某微低重力模拟装置为应用对象,在模拟月球重力环境下的跳跃试验中验证补偿策略的有效性。试验结果表明:该补偿方法能够有效提高微低重力模拟装置运动过程中的失重模拟精度。To solve the problem that the simulation accuracy of a micro-low gravity simulator was limited due to inertial force and spring gravity,a control method using active compensation mechanism was studied to get more accurate simulation.A dynamic model considering spring gravity was established based on the conservation principle of potential energy and the second kind of Lagrange equation.A third-order observer was established to obtain the velocity and acceleration of the joints inside the simulator.A compensation model for spring gravity and system inertia force was obtained by combining the above results.The effectiveness of the method was verified by a jump experiment in the lunar gravity environment.The experiments showed that the compensation strategy could effectively improve the simulation accuracy of weight loss while the simulator was in motion.

关 键 词：势能守恒 动力学建模 三阶观测器 主动补偿 月面跳跃模拟 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]