Control Method of Gravity Compensated Vertical Subsystem Based on Sliding Mode Surface

Abstract

The invention discloses a gravity compensation vertical subsystem control method based on a slip form face. A gravity compensation vertical subsystem composed of a controller, a sensing unit, an executer and a spring module is provided. A coordinate system is established based on a working principle of the gravity compensation vertical subsystem. The system is modeled through a lagrange equation, a model is simplified, and a simplified spring mass system with the interference, model indeterminancy and outside motivation is obtained. According to the characteristics of the system model, a PID algorithm, a PISS algorithm and a PISST algorithm suitable for different task requirements are given according to the different task requirements. The three algorithms are integrated, algorithm selection is finished by setting parameters of the controller, and a criterion for parameter adjustment of the three algorithms is given. The gravity compensation vertical subsystem control method has the beneficial effects that a tension sensor and a displacement sensor are comprehensively applied, the compensation precision is improved, the comprehensive degree of the controller is high, and parameters are easy to adjust.

Description

[0001] Technical field [0002] The invention belongs to the technical field of ground verification of spacecraft navigation, guidance and control systems, and in particular relates to modeling and control of a vertical constant force system. Background technique [0003] Aerospace engineering is a high-risk, high-investment, high-reward, highly complex and high-precision system engineering. Its development level determines whether it can seize the high-tech commanding heights and maximize the use of space resources. There is no doubt that it is imminent to actively carry out aerospace technology research in our country. However, the space environment is extremely harsh. In order to successfully complete space missions, sufficient experiments must be carried out on the ground. Therefore, various space agencies at home and abroad attach great importance to the experimental verification of spacecraft on the ground. [0004] One of the most important features of the space environ...

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Problems solved by technology

The patent application number is CN201220400797 "Semi-active gravity compensation structure air bearing six degrees of freedom analog satellite device" announced a "parallel connection" scheme through the integration of motor ball screw and cylinder suspension to compensate the gravity of the spacecraft and It provides the freedom of movement in the vertical direction, which solves the problem that the air flotation method can only simulate the movement of five degrees of freedom, but its structure is relatively complicated, the air compression processing equipment occupies a large area, and the cost of marble is expensive; the patent application number is CN201410142865 "A Vertical Constant Force System" published a vertical constant force system composed of a balance point constant force spring module, a rack and pinion compensation module and a data acquisition control module, but did not give a specific modeling control algorithm

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