地面微重力环境零刚度机构动态调控  

Dynamic regulation of zero stiffness mechanism in ground microgravity environment

作　　者：姜朋飞 王震南 张慧博 张浩[1] 侯玮杰 徐嘉亮 JIANG Pengfei;WANG Zhennan;ZHANG Huibo;ZHANG Hao;HOU Weijie;XU Jialiang(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Electrical and Mechanical Engineering,Harbin Engineering University,Harbin 150001,China;Tianjin Institute of Aerospace Mechanical and Electrical Equipment,Tianjin 300301,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [3]天津航天机电设备研究所,天津300301

出　　处：《传感器与微系统》2025年第1期123-126,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金航天联合基金重点资助项目(U21B2075);天津市微低重力环境模拟技术重点实验室开放项目(WDZL-2021-02)。

摘　　要：针对航天器地面微重力方法中无法抑制惯性力影响的问题,设计了一种零刚度机构主动补偿系统。建立了系统冗余驱动的动力学模型,提出了一种自适应的力/位混合控制方法,研究了未加干扰、系统干扰以及不同控制方法对比下控制器的性能。仿真结果表明:力/位混合控制方法可以平稳度过危险时段,并将重力补偿误差控制在1.5%以内,使系统具有很高的重力补偿精度。Aiming at the problem that the effect of inertial forces in the spacecraft ground microgravity method can′t be suppressed,a zero-stiffness mechanism active compensation system is designed.Dynamics model of the system redundant drive is established,an adaptive force/position hybrid control method is proposed,and the performance of the controller is researched under the comparison of undisturbed,system-disturbed and different control methods.The simulation results show that the force/position hybrid control method can smoothly pass the dangerous time and control the gravity compensation error within 1.5%,which makes the system have high gravity compensation precision.

关 键 词：地面微重力环境 零刚度机构 自适应控制 力/位混合控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V416.5[自动化与计算机技术—控制科学与工程]