【摘要】 太空环境与地面环境有着很大的不同,根据地面环境下动力学特性设计而成的机械系统在太空零重力环境下作业时会产生"动力过冲"的现象,因此太空机械系统在进入太空工作之前需要进行严格的地面微重力模拟实验以对系统的设计进行验证。针对大型昂贵空间实验目标的地面测试问题,提出了一种基于Stewart机构的混合驱动的六自由度微重力模拟实验平台,基于Kane方法建立了该实验平台的动力学方程,据此设计了面向该平台运动控制的计算力矩控制方法,并利用MATLAB/Simulink与ADAMS进行联合仿真,验证了所提出的控制方法的正确性。更多还原

【Abstract】 The outer space environment is much different from the ground environment,when working in the outer space,the power of the mechanical systemwhich is designed according to the ground environment dynamic characteristicwill not match.As a consequence,strict ground microgravity simulation experiment should be carried out to validate the designbefore the space mechanical system is launched. Aiming at the ground test of large and expensive space experimental objects,a kind of hybrid ground microgravity simulation platform with six degrees of freedom is proposed. This platform is designed based on Stewart mechanismand adynamics model of this simulation platformis established based on Kane’s equations. According to the dynamics model a kind of computed torque control law for the platform is developed. Finally,the control law is manifested by the co-simulation of ADAMS and MATLAB/Simulink.更多还原