半主動(dòng)微重力地面模擬平臺(tái)高精度控制系統(tǒng)的研究.pdf

1、中國(guó)科學(xué)技術(shù)大學(xué)碩士學(xué)位論文半主動(dòng)微重力地面模擬平臺(tái)高精度控制系統(tǒng)的研究姓名：岳翠萍申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：檢測(cè)技術(shù)與自動(dòng)化裝置指導(dǎo)教師：梅濤20100501AbstractABSTRACTChinasspaceindustryhasenteredanewperiod，fromthetraditionalsinglesatellitelaunchtodocommunications，informationcollectionintohi

2、ghchallengingtasksforspacecraftssuchascapture，docking，operation，maintenanceIfasimulationmicrogravityenvironmentontheearthismoresimilartothespaceenvironment，thedynamiccharacteristicsofthespacecraftscanbetestedinthesimulat

3、ionenvironmentbeforetheyarelaunchedAndthenthereliabilityofthespacecraftsCanbemadesureFirstlytheresearchbackgroundandthesignificanceofmicrogravitysimulationweredescribed，thenthemicrogravitysimulationmethodsathomeandabroad

4、wereanlyzedandcompared，andaccordingtotheresearchoutputsofOurlaboratorypreviously，anewsemiactivespacesimulatedmicrogravitysystemwasconstructedAirbearingandhydrod)rnamicballbearingwereusedtorealize5DOFfloatingobjectToreali

5、ze6DOFfloatingobjectsimulation，averticalaircylinderWasusedtocompensateitsgravityInverticaldirectionactiveairfloatationsystemcouldn’tsatisfytheprecisionanddynamicperformanceofthesystembecauseofthenonlinearfrictionandairfl

6、uctuating，SOthemotorballscrewstructurewasdesignedtoovercomethefrictionandresidualgravityoftheobjectTheforcesensorWaSusedtomeasurethevalueoftheexternalforcethattheobjectssufferedAccordingtothevalueoftheexternalforce，theac

7、celerationofthesimulatedobjectwasestimatedTheexpectedvelocityatnexttimewasevaluatedbytheleastsquaremethodTheobjectWasmovingattheverticaldirectionbytheballscrewstructure，ensuringthattheoutputoftheforcesensorequalstothegra

8、vit)，oftheobject，attheend，thedynamicalbehavioroftheobjecthasbeensimulatedifitisinmicrogravityenvironmentDefinethedifferencebetweentheoutputoftheforcesensorandthegravityoftheobject觴theuncompensatedfrictionattheverticaldir

9、ection，whichvaluemustbelowerthanonenewtonAfterconsideringtheinterruptandanalyzingtheerrorofthesystem，thecontrollingalgorithmwasimprovedTheimprovedcontrollingalgorithmbasedonthediscreteKalmanfilterthatfusedtwoinformations

10、ThetwoinformationsarethesufferedforceandthevelocityofmotorseperatelymeasuredbytheforcesensorandthephotoelectricencoderTherealexperimentresultsshowthatthenewcontrollerisbeaerthanorignalone，theprecisionandthedynamicperform