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

Abstract

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

CLC Number:

V443

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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References 32

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

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