半主動微重力地面模擬平臺高精度控制系統(tǒng)的研究.pdf

1、中國科學技術(shù)大學碩士學位論文半主動微重力地面模擬平臺高精度控制系統(tǒng)的研究姓名：岳翠萍申請學位級別：碩士專業(yè)：檢測技術(shù)與自動化裝置指導教師：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