【作者】 赵明；

【导师】 王岩；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2014， 硕士

【摘要】 随着空间科学技术的迅猛发展，用来进行航天器全物理仿真试验的气浮台的作用变得越来越重要。现代航天器需要很好的轨道机动性，所以地面全物理仿真试验需要一个可以提供多自由度的气浮台。国内外的一些机构已经开始了多自由度气浮台的研究工作，并取得了一系列成果。本文在分析六自由度气浮台任务书中性能指标的基础上，结合工程实际，提出了一套六自由度气浮台控制系统设计方案，并对关键控制技术进行了理论研究与仿真，设计了姿态平台质心调节系统和重力平衡伺服运动机构的控制系统，并对其进行了实现。本文首先对六自由度气浮台的姿态平台进行了运动学和动力学研究并建立模型，根据模型对质心偏移与摆动周期的关系进行了分析。然后对重力平衡伺服运动机构进行了动力学建模。本文在详细分析了控制系统的模型的基础上，对姿态平台的调平机构的控制系统进行了设计，在PID控制器的基础上设计了改进的专家PID控制器；对重力平衡伺服运动机构的控制系统进行了深入研究，设计了PID控制器和滑模变结构控制器，并对其进行了仿真分析。本文最后在前几章研究工作的基础上，对控制系统的软件进行了设计，并对本文所设计的控制器进行了实际验证并给出了调试结果，完成了六自由度气浮台控制系统的实现。更多还原

【Abstract】 With the rapid development of space technology, the air bearing spacecraft simulatorused for physical simulation of the spacecraft is becoming more and more important.Modern spacecraft needs a better orbit mobility. Thus, we should provide an air bearingspacecraft simulator with more degrees of freedom. Domestic research institutions havealready started the work and made a series of achievements. In this paper, we propose a setof control system design scheme of the6-DOF air bearing spacecraft simulator based on theanalysis of the performance indicators in the commitment of the6-DOF air bearingspacecraft simulator and in combination with the engineering practice. We have carried onthe theoretical analysis and research for the key control technology, and designed theregulating system for center of mass of attitude platform and the device for gravity balanceand servo motion.At last, we achieve the goal.In this paper, we have studied the6-DOF air bearing spacecraft simulator in the aspectof kinematics and dynamics and built a model, analyzed the relationship between the centerof mass migration and swing cycle based on the model. Then we have built a model of thedevice for the gravity balance and the servo motion in the aspect of dynamics.In this paper, we have carried on the thorough research to the control system of thedevice for the gravity balance and the servo motion, designed the PID and sliding modecontrol system, then simulated and analyzed it.In this paper, we have designed the software of the control system on the basis of thefirst few chapters. We have made the actual validation of the control system and gave thedebugging results. At last, we have completed the implementation of the control system ofthe completed his implementation.更多还原