低重力模拟系统控制策略

The control strategy of low gravity simulation system

为了使低重力模拟系统满足月球巡视车研发、调试的要求,系统需克服传统方法在竖直方向出现扰动时,抑制效果不好的问题,为此搭建了提供竖直方向拉力的恒张力伺服子系统。在分析关键部件工作特性的基础上,建立了范数有界参数不确定性控制对象模型,分离了标称模型与不确定性参数。根据系统的特点和巡视车测试过程中对于低重力环境的指标需求,针对性的设计了H∞控制器。通过仿真检验,控制器抑制了系统参数不确定的影响,避免了电机的机械谐振发生,并且在巡视车竖直方向加速度干扰的情况下,保证系统最大误差仅为3.4 N。

In order to make the low gravity simulation system system needs to overcome the problem that the system cannot meet the research and debugging of a lunar rover, the work well when the disturbance is in vertical direction. A constant tension servo system for providing vertical tension is set up. The working characteristics of key components are analyzed and the mathematical model of the key components is established, which includes the normbounded parameter uncertainty. The nominal model and the uncertainty parameter were separated. According to the characteristics of the system and the index requirements of the lunar rover testing process for low gravity environment, the H∞ controller of the system is designed for this purpose. It is verified that the controller solves the problem of the parameter uncertainty and avoids the mechanical resonance of the motor. The system ensured that the error is less than 3.4 N under the interference of the vertical acceleration of the lunar rover.