【作者】 袁帅；

【导师】 卢鸿谦；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2023， 硕士

【摘要】 近年来,我国航天科技飞速发展,正在进行的探月工程四期当中,将把嫦娥七号探测器送往月球南极进行相关科研探测。为了验证航天器在目标天体表面着陆和起飞时的适应能力,需要创建一个低重力模拟环境,在地面进行一系列真实工况验证试验,以提供关键技术手段用于航天器综合性能参数的验证和优化。本文将为嫦娥七搭建月面低重力模拟平台作为实验目的,在众多低重力环境模拟的技术中选择了具有便于搭建、实验时间不受限制、拉力便于控制等诸多优点的悬吊法,选取了主动被动控制方法结合的方式,设计了竖直方向上控制拉力保持不变的恒拉力子系统,其中包含机械结构、电气结构、软件结构设计和缓冲环节的设计。同时,本文也简要介绍了月球车重力补偿原理以及机械部分产生谐振的原因。随后本文针对月球车在陆面行走、站立工况对系统建立了数学模型,并根据状态空间方程设计了现代控制理论中的LQR控制器,在仿真软件里对设计好的闭环控制系统进行了性能验证;同时由于使用的弹簧缓冲机构结构特性,在设计好的闭环控制系统基础上,引入了弹簧压缩量作为输入构造了第二闭环,对引入第二闭环后的控制系统与第一闭环进行了控制效果的对比。最后,为了实现低重力模拟平台的实际应用,搭建了实物实验平台,针对实验要求的指标对设备进行了选型和软件程序编写,随后将LQR控制器应用到了实际系统当中并进行了初步的实物实验,采集并分析处理了实验数据,对能否完成实验指标进行了验证。更多还原

【Abstract】 In recent years,China’s space science and technology has developed rapidly.Chang ’e-7 will be sent to the South Pole of the moon for scientific research and exploration in the fourth phase of the ongoing lunar exploration project.In order to verify the adaptability of the spacecraft when landing and taking off on the surface of the target celestial body,it is necessary to create a low gravity simulation environment and conduct a series of real condition verification tests on the ground,so as to provide key technical means for the verification and optimization of the comprehensive performance parameters of the spacecraft.In this paper,a low gravity simulation platform is built for Chang ’e-7 lunar surface as the purpose of the experiment.Among the many technologies for the simulation of low gravity environment,a suspension method with many advantages such as easy construction,unrestricted experiment time and easy control of tension is selected.A combination of active and passive control methods is selected to design a constant tension subsystem which keeps the tension unchanged in the vertical direction.Including mechanical structure,electrical structure,software structure design and buffer link design.At the same time,the theory of gravity compensation and the reason of resonance in the mechanical part of the lunar rover are introduced briefly.Then,a mathematical model was established for the lunar rover when it was walking and standing on the land surface,and the LQR controller in modern control theory was designed according to the state-space equation.The performance of the designed closed-loop control system was verified in the simulation software.At the same time,due to the structural characteristics of the spring buffer mechanism,based on the designed closed-loop control system,the spring compression is introduced as the input to construct the second closed-loop,and the control effect of the second closed-loop control system is compared with that of the first closed-loop.Finally,in order to realize the practical application of the low gravity simulation platform,the physical experiment platform was built,and the equipment was selected and the software program was written according to the experimental requirements.Then the LQR controller was applied to the actual system and the preliminary physical experiment was carried out.The experimental data were collected and analyzed and processed,and the experimental indicators were verified.更多还原