懸吊式重力補(bǔ)償系統(tǒng)隨動(dòng)控制技術(shù)與實(shí)驗(yàn)研究

打開文本圖片集

中圖分類號(hào)：V443 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.03.25

Follow-up control technology and experiment research of suspension gravity compensation system

WANG Xu ，LIU Yanfang，2，*，SHE Jiayu，YUAN Qiufan3，QI Naiming1，2 （1.Schoolof Astronautics，Harbin Institute of Technology，Harbin150o01，China; 2.Suzhou Research Institute，Harbin InstituteofTechnology，Suzhou 215lO4，China； 3.AerospaceSystemEngineeringShanghai，Shanghai20ll09，China）

Abstract：In view of the problems of slow response to load horizontal motion，unreliable measurement of follow-up deviation，and resonance of suspension cables caused by load motion in suspension gravity compensation systems，a horizontal position following scheme based on gear guide drive and orthogonal laser inclination measurement is proposed.To achieve high-frequency and accurate measurement of follw-up deviation，laser sensors installed orthogonallyare used to measure therelative distanceof the outlet sling，and the sling angleis obtained through calibration conversion.By modeling and analyzing various parts of the system and actual measurement results，a notch filter is designed to suppress the resonance of the suspension cable， achieving high dynamicand high-precision horizontal follw-up control.Experimental results show that the follow-up system can follow various complex movements of the subjects，with a maximum folowing speed greater than 2m/s and a maximum deviation of the suspension cable not exceeding 1.4° ，which can meet the requirements of simulating low gravity environments in outer space.

Keywords：microgravity simulation；active two-dimensional follow-up tracking；dynamics modeling；notch filter design

0 引言

地外較小的重力環(huán)境使得航天器可以采用輕質(zhì)、弱強(qiáng)度的結(jié)構(gòu)件以降低發(fā)射成本[]，但這也意味著這些航天器無法承受地球重力，難以在地面開展相關(guān)技術(shù)驗(yàn)證實(shí)驗(yàn)[2]。（剩余15958字）