空间微重力环境地面气动模拟系统设计

Design of a terrestrial pneumatic simulation system in spatial microgravity environments

本论文提出了在地面采用气动方式模拟空间微重力环境下实验系统方案,该实验系统用于验证空间机器人的捕获性能。本验证系统由模拟目标星实验模型、气浮平台、双目视觉系统、通讯系统、电机系统,传感器系统、信号调理系统六个子系统组成。本论文首先阐述了系统各个子系统的设计方案,其次讨论了基于层次递减式控制系统结构,最后重点研究了模拟目标星在垂直地面方向上的漂浮运动控制算法,仿真和实验结果验证了该控制算法是有效的。

This paper focuses on the design scheme of a terrestrial pneumatic testing system for spatial microgravity,wherein a space robot can capture a floating target autonomously.The system consists of six sub-systems,including target robot,floating platform,binocular vision system,communication system,motor system,sensor system and signal-conditioning system.The sub-systems are firstly discussed in this paper.The control system based on hierarchically descending control is then introduced.The kinematics controlling algorithm is deliberated with simulations and experiments.