三维空间微重力地面模拟试验系统设计

Design of Ground Simulation Test System for Three-dimensional Spatial Microgravity Environment

针对大中型及做复杂运动的空间试验目标,提出一种机电气组合的空间微重力地面模拟系统装置。该装置水平运动方向采用气垫支撑方式,竖直运动方向采用电动机作为动力源执行部件,经减速器减速后经滚珠丝杠及直线轴承作为传动装置,控制系统采用恒力闭环系统来跟踪目标重力。考虑试验目标所受到的来自本体的不确定影响及机械传动部件的摩擦干扰,且考虑到空间飞行器的姿态通常的低速运动,采用具有学习能力的神经网络等效滑模控制策略来自适应学习并补偿各种不确定影响。试验结果表明,所设计的试验装置结构不仅质量小,使用方便,且能够补偿运动空间机械手的非线性动态影响,达到较高的微重力环境模拟精度,对于三维空间微重力模拟试验具有重要的参考价值。

Aiming at large and medium spatial experimental objects with complex motion,an engineering system composed of machine,motor and air-bearing is designed to simulate the spatial microgravity environment.Horizontal movement adopts air suspending,vertical movement adopts motor and reducer,constant force closed loop system is adopted by control system to track target gravity.For test object,friction non-linearity of machine system,outside disturbance and low speed of aircraft are considered.Neural sliding model equivalent controller with learning ability is adopted for adaptive learning and for compensation for various uncertain influences.Test result shows that the designed test equipment not only features light-weight structure and easy use,but also can compensate non-linearity dynamic influences of manipulators and achieve high-precision simulation of microgravity environment.So it has important reference value for three-dimensional spatial microgravity simulation test.