低重力模拟系统主动悬吊方式控制研究

Research on the active suspension method of the low-gravity simulation system

为了简化低重力模拟系统设计难度,方便巡视车得到更准确的测试结果,在主动悬吊方式下提出了直接对力回路进行控制并辅以位置控制的方案。在建立系统模型过程中考虑了影响系统鲁棒稳定性的参数不确定与可转化为乘性不确定性的延时问题,并实现了不确定性的分离;根据系统受到巡视车带来的干扰、减速器摩擦力矩与本身不确定性等问题,针对性地设计了H∞控制器对系统综合,通过实验检验,控制器有效抑制了不确定性与干扰的影响,系统的控制精度得到了保证。

In order to make the design of the low gravity simulating system simpler and make the lunar rover get more accurate test results,the method of controlling the force circuit and the location circuit directly is put forward.In the system model,the delay problem and the parameter uncertainty which may affect the robust stability of the system are considered. For addressing the problem of the interference and the uncertainty in the system,H∞controller is designed. Experiments showed that the controller can effectively suppress the influence of uncertainty and interference and the control precision of the system is guaranteed.