Terminal sliding mode control method of suspended six-degree-of-freedom microgravity environment simulation system
An environment simulation, system terminal technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of good robustness, high simulation accuracy, and high compensation accuracy
Active Publication Date: 2019-11-12
BEIHANG UNIV
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Problems solved by technology
However, in the application of suspension method gravity compensation, there is no description of its control algorithm. The present invention describes its modeling process in detail based on the patent "a suspended six-degree-of-freedom microgravity environment simulation system" with the patent application number 2016104143446 and control algorithm
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[0033] combine figure 1 , the system of the terminal sliding mode control method of the suspended six-degree-of-freedom microgravity environment simulation system of the present invention includes: a simulated spacecraft 1, an unconstrained suspension device 2, a buffer device 3, a sensing and measuring unit 4, a Z-direction module 5, a Y The direction module 6, the X direction module 7 and the execution control unit, the simulated spacecraft 1 is installed on the unconstrained suspension device 2, the unconstrained suspension device 2 is connected to one end of the buffer device 3, and the other end of the buffer device 3 is connected to the sensor measurement The unit 4 is connected, the sensing and measuring unit 4 is connected to the Z-direction module 5, the Z-direction module 5 is installed on the Y-direction module 6, the Y-direction module 6 is installed on the X-direction module 7, and the Z-direction module is composed of Gear and rack drive.
[0034] combine figu...
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The invention provides a terminal sliding-mode control method for a suspended six-freedom-degree microgravity environment simulation system. The six-freedom-degree microgravity environment simulation system is composed of a simulation spacecraft, an unconstrained suspension device, a buffer device, a sensing measuring unit, a Z-direction module, a Y-direction module, an X-direction module and an implementation control unit. Based on the working principle, a coordinate system is established. A Lagrangian equation is used to carry out modeling on the system. Based on the Lagrangian model, the provided terminal sliding-mode control method for the suspended six-freedom-degree microgravity environment simulation system has the advantages of anti-interference, good robustness and high simulation precision. Environments different from the earth in gravity, such as the moon and the Mars, or the microgravity environment in space can be simulated, which ensures that the environment of the spacecraft ground experimental verification is the same as the working environment.
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 a terminal sliding mode control method of a suspended six-degree-of-freedom microgravity environment simulation system. Background technique [0003] Our country is actively carrying out aerospace technology research. In order to adapt to the harsh space environment and successfully complete space missions, all kinds of spacecraft and satellites must be fully experimentally verified on the ground before launching. One of the most important features of the space environment is microgravity. However, the ground laboratory is a gravity environment. In order to reproduce the real movement of the spacecraft in the space microgravity environment on the ground, it can improve the confidence of the ground verification navigation, guidance and control system experiments. Therefore, it is necessary to est...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 贾英民贾娇孙施浩
Owner BEIHANG UNIV