悬吊式重力补偿系统随动控制技术与实验研究

doi:10.12305/j.issn.1001-506X.2025.03.25

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (3): 929-937.doi: 10.12305/j.issn.1001-506X.2025.03.25

• 制导、导航与控制 • 上一篇

悬吊式重力补偿系统随动控制技术与实验研究

王旭¹, 刘延芳¹^,²^,*, 佘佳宇¹, 袁秋帆³, 齐乃明¹^,²

1. 哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001
2. 哈尔滨工业大学苏州研究院, 江苏苏州 215104
3. 上海宇航系统工程研究所, 上海 201109

收稿日期:2024-04-22 出版日期:2025-03-28 发布日期:2025-04-18
通讯作者: 刘延芳
作者简介:王旭 (1998—), 男, 博士研究生, 主要研究方向为数据驱动动力学建模、智能控制、地面运动模拟系统
刘延芳 (1986—), 男, 研究员, 博士, 主要研究方向为飞行器机电一体化、航天器智能化装配与测试、航天器智能自主
佘佳宇 (1997—), 男, 博士研究生, 主要研究方向智能视觉目标检测、地面运动模拟系统
袁秋帆 (1992—), 男, 高级工程师, 博士, 主要研究方向为复杂航天器动力学与控制、新型航天器全物理地面试验
齐乃明 (1962—), 男, 教授, 博士, 主要研究方向为飞行器动力学与控制、机电一体化、航天器地面模拟试验系统
基金资助:
国家自然科学基金面上项目(52272390);黑龙江省自然科学基金优秀青年项目(YQ2022A009);机器人技术与系统国家重点实验室“助苗计划”博士研究生创新基金(SKLRS-2022-ZM-13)

Follow-up control technology and experiment research of suspension gravity compensation system

Xu WANG¹, Yanfang LIU¹^,²^,*, Jiayu SHE¹, Qiufan YUAN³, Naiming QI¹^,²

1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
2. Suzhou Research Institute, Harbin Institute of Technology, Suzhou 215104, China
3. Aerospace System Engineering Shanghai, Shanghai 201109, China

Received:2024-04-22 Online:2025-03-28 Published:2025-04-18
Contact: Yanfang LIU

摘要/Abstract

摘要：

针对悬吊式重力补偿系统对负载水平运动响应慢、随动偏差测量不可靠、负载运动易激起吊索谐振等问题, 提出基于齿轮导轨驱动、正交激光倾角测量的水平位置跟随方案。为实现随动偏差的高频、精确测量, 采用正交安装的激光传感器测量出线口吊索相对距离, 通过标定转换得到吊索偏角。利用对系统各部分建模分析及实际测量结果, 设计陷波器抑制吊索谐振, 实现高动态、高精度水平随动控制。实验结果表明, 随动系统可以跟随被试人员的各种复杂运动, 最大跟随速度大于2 m/s, 且保持吊索最大偏差不超过1.4°, 能够满足地外微低重力环境模拟的需求。

关键词: 微低重力模拟, 主动二维随动跟踪, 动力学建模, 陷波器设计

Abstract:

In view of the problems of slow response to load horizontal motion, unreliable measurement of follow-up deviation, and resonance of suspension cables caused by load motion in suspension gravity compensation systems, a horizontal position following scheme based on gear guide drive and orthogonal laser inclination measurement is proposed. To achieve high-frequency and accurate measurement of follow-up deviation, laser sensors installed orthogonally are used to measure the relative distance of the outlet sling, and the sling angle is obtained through calibration conversion. By modeling and analyzing various parts of the system and actual measurement results, a notch filter is designed to suppress the resonance of the suspension cable, achieving high dynamic and high-precision horizontal follow-up control. Experimental results show that the follow-up system can follow various complex movements of the subjects, with a maximum following speed greater than 2 m/s and a maximum deviation of the suspension cable not exceeding 1.4°, which can meet the requirements of simulating low gravity environments in outer space.

Key words: microgravity simulation, active two-dimensional follow-up tracking, dynamics modeling, notch filter design

中图分类号:

V443

王旭, 刘延芳, 佘佳宇, 袁秋帆, 齐乃明. 悬吊式重力补偿系统随动控制技术与实验研究[J]. 系统工程与电子技术, 2025, 47(3): 929-937.

Xu WANG, Yanfang LIU, Jiayu SHE, Qiufan YUAN, Naiming QI. Follow-up control technology and experiment research of suspension gravity compensation system[J]. Systems Engineering and Electronics, 2025, 47(3): 929-937.

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参数	陷波频率/Hz
参数	2	4	8.8
a₁	4.078 1	4.260 3	4.739 2
a₂	0.031 6	0.126 2	0.610 8
a₃	2.953 5	3.865 9	3.871 6
b₁	4.020 8	4.073 1	4.327 5
b₂	-7.968 4	-7.873 8	-7.389 2
b₃	4.010 8	4.053 1	4.283 3

工况	最大速度/(m/s)		平均误差(1σ)/(°)		最大误差/(°)
工况	X	Y	X	Y	X	Y
下蹲站立	0.33	0.36	0.23	0.22	0.37	0.35
快速行走	2.02	0.34	0.43	0.38	1.35	0.92
跳跃行走	0.52	0.47	0.34	0.19	0.51	0.43

指标	文献[25]	文献[26]	ARGOS^[32]	本文
最大跟随速度/(m/s)	0.10	0.10	2.00	2.02
跟踪最高速时绳索偏角/(°)	-	-	3.10	1.4
跟踪0.1 m/s速度绳索倾角/(°)	0.20	0.15	-	0.14

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悬吊式重力补偿系统随动控制技术与实验研究

Follow-up control technology and experiment research of suspension gravity compensation system

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