Active disturbance rejection and air levitation based lunar sample ground transfer system and method

Abstract

This invention discloses a lunar sample ground transport system and method based on active disturbance rejection and air suspension. The system includes: a static pressure gas bearing, a sample container support column, and a vehicle platform; the sample container support column is installed at the top of the bearing; the bearing is placed on the vehicle platform; the hollow static pressure gas bearing forms an independent pressure stabilizing chamber and a pressure equalizing chamber connected by a throttling orifice; one end of the pressure equalizing chamber is an opening at the bottom of the bearing, and the contact surface between the bottom of the bearing and the vehicle platform is the bearing surface; high-pressure gas flows through the throttling orifice of the pressure stabilizing chamber to the pressure equalizing chamber, and forms a gas film between the bearing surface and the vehicle platform; a throttling device is provided at the throttling orifice in the pressure equalizing chamber, including an electric suction cup, a spring, an iron abutment plate, and a cone; the iron abutment plate has a cone extending into the throttling orifice; the electric suction cup is installed around the throttling orifice and connected to the iron abutment plate through the spring, used to drive the iron abutment plate to drive the cone to generate axial displacement; the cone is used to change the throttling area of ​​the throttling orifice when axial displacement is generated.

Description

Technical Field

[0001] This invention relates to the field of lunar sample ground transportation, and in particular to a lunar sample ground transportation system and method based on active disturbance rejection and air suspension. Background Technology

[0002] Lunar samples are among the most important achievements of human deep space exploration and scientific research. Their acquisition, transportation, and preservation are of great significance for studying the moon's geological structure, evolutionary history, and the development and utilization of extraterrestrial resources. With the continuous advancement of deep space exploration projects, the scale and frequency of lunar sample transport on the ground are gradually increasing. How to improve the safety, stability, and undisturbed nature of lunar samples during transport has become a key technical challenge in current scientific research and sample management.

[0003] Currently, the transport of ground samples mostly employs traditional methods of mechanical support and shock absorption. While this method boasts advantages such as mature technology, simple structure, and ease of implementation, it is difficult to avoid mechanical vibration, road bumps, and random disturbances during long-distance transport or under complex road conditions, which can easily cause secondary damage to lunar samples. For example, micron-sized particles may migrate or mix due to vibration, and rock samples may develop microcracks due to impact. These damages not only affect the integrity and scientific value of the samples but also pose a potential threat to subsequent detailed research. To reduce the impact and vibration caused by mechanical contact, researchers have proposed a sample support scheme based on hydrostatic air suspension technology. This technology achieves non-contact support by forming an air film between the support surface and the sample container, effectively reducing friction and vibration transmission. It offers advantages such as low friction, low wear, and low vibration, making it particularly suitable for the safe transport of high-value, fragile samples. However, under current technological conditions, the support system based on hydrostatic air suspension technology still faces the following prominent problems:

[0004] Insufficient load-bearing capacity: Conventional static pressure air suspension systems are mostly used for supporting small precision instruments, which is difficult to meet the strong load-bearing requirements of vehicle-mounted transport systems for large mass sample containers in complex ground environments.

[0005] Limited anti-disturbance performance: Existing static pressure air suspension systems mainly rely on passive adjustment to respond to external disturbances. They have limited ability to suppress external disturbances such as road bumps, lateral impacts and low-frequency vibrations, making it difficult to guarantee the absolute stability of the sample container.

[0006] Therefore, a new technical solution is urgently needed to address the technical problem of how to conduct highly stable and low-disturbance ground transfer of lunar samples. Summary of the Invention

[0007] This invention provides a lunar sample ground transport system and method based on active anti-disturbance and air suspension, which solves the technical problem of how to transport lunar samples on the ground with high stability and low disturbance.

[0008] To achieve the above objectives, the present invention provides a lunar sample ground transport system based on active disturbance rejection and air suspension, characterized in that it includes a hydrostatic gas bearing, a sample container support column, and a vehicle platform; the sample container support column is installed at the top of the hydrostatic gas bearing for supporting the sample container; the hydrostatic gas bearing is placed on the vehicle platform;

[0009] The hollow hydrostatic gas bearing forms an independent pressure stabilizing chamber and a pressure equalizing chamber. The pressure stabilizing chamber is located above the pressure equalizing chamber and is connected through a throttling orifice of a preset size. The end of the pressure equalizing chamber near the vehicle platform is an opening connected to the bottom end of the hydrostatic gas bearing. The contact surface between the bottom end of the hydrostatic gas bearing and the vehicle platform is the bearing surface. The pressure stabilizing chamber is provided with a pressure supply channel for inputting high-pressure gas. The high-pressure gas flows to the pressure equalizing chamber through the throttling orifice and forms a gas film in the bearing gap between the bearing surface and the vehicle platform to suspend the hydrostatic gas bearing.

[0010] A throttling device is provided at the throttling orifice in the equalizing chamber; the throttling device includes an electric suction cup, a spring, an iron plate, and a cone; the side of the iron plate near the throttling orifice has a cone that extends into the throttling orifice; the electric suction cup is installed around the throttling orifice and is connected to the iron plate through the spring, and is used to drive the iron plate to drive the cone to generate axial displacement; the cone is used to change the throttling area of ​​the throttling orifice when axial displacement is generated.

[0011] Preferably, it also includes an active disturbance rejection control module; the active disturbance rejection control module includes a sensor, a multi-channel solenoid valve, a programmable DC power supply, and a controller;

[0012] The sensors are installed inside the pressure equalization chamber to collect the first information in real time; the first information includes the air film pressure and the three-coordinate acceleration of the vehicle platform.

[0013] The controller is used to drive a multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel according to the first information, and to drive a programmable DC power supply to change the throttling area of ​​the throttling orifice.

[0014] Preferably, the method of driving a multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel based on the first information, and driving a programmable DC power supply to change the throttling area of ​​the orifice includes:

[0015] When the initial information indicates that the system needs to withstand external shocks:

[0016] In the fast timescale of external impact, the electric chuck is driven by a programmable DC power supply to move the cone head upward, reduce the opening of the throttling orifice, and reduce the throttling area of ​​the throttling orifice, so as to rapidly increase the air film pressure and enhance the bearing capacity; in the slow timescale of external impact, the multi-channel solenoid valve is driven to increase the air supply pressure of the pressure supply channel.

[0017] Preferably, the method of driving a multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel based on the first information, and driving a programmable DC power supply to change the throttling area of ​​the orifice, further includes:

[0018] When the initial information indicates that the system needs to resist external pressure:

[0019] During the fast timescale of external downward pressure, the electric chuck is driven by a programmable DC power supply to move the cone head downward, increasing the orifice opening and the throttling area of ​​the orifice to maintain the gas film thickness; during the slow timescale of external downward pressure, the multi-channel solenoid valve is driven to reduce the gas supply pressure of the pressure supply channel.

[0020] Preferably, the inner diameter of the throttling orifice is in the range of 0.5 mm to 5 mm.

[0021] Preferably, the volume of the equalizing chamber is in the range of 0.3 mL to 1 mL.

[0022] Preferably, the maximum supply pressure range of the high-pressure gas is 0.8MPa to 1.5MPa.

[0023] This invention also provides a method for transporting lunar samples to the ground based on active disturbance rejection and air suspension. The system and method based on this invention include:

[0024] The system facilitates the ground transport of lunar samples and collects primary information in real time via sensors. This primary information includes gas film pressure and the three-coordinate acceleration of the onboard platform. A controller operates a multi-channel solenoid valve and a programmable DC power supply based on this primary information, including:

[0025] Based on the first information, the system needs to take response actions, including resisting external impacts or external downward pressure. Based on the response actions, the system drives a multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel. The system then drives an iron butt plate to move the cone head axially through a programmable DC power supply, thereby changing the throttling area of ​​the throttling orifice to achieve active disturbance rejection.

[0026] The present invention has the following beneficial effects:

[0027] This invention relates to a lunar sample ground transport system based on active disturbance rejection and air suspension. By introducing a controllable throttling static pressure gas bearing for active disturbance rejection, it achieves efficient coupling of gas supply, load-bearing capacity, and disturbance suppression. While ensuring strong load-bearing capacity, it can flexibly suppress external disturbances during transport, thereby significantly improving the overall performance of the transport system. This invention effectively solves the bottleneck problems of insufficient load-bearing capacity and poor disturbance suppression in existing technologies, achieving low-disturbance, safe, and reliable ground transport of lunar samples. It can provide a novel technical solution for the ground transportation of future lunar samples and even other deep space exploration samples, and has broad application prospects and promotional value.

[0028] The lunar sample ground transport method based on active disturbance rejection and air suspension of the present invention, and the transport system based on the present invention, have the same beneficial effects as the transport system of the present invention.

[0029] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0031] Figure 1 This is a schematic diagram of a lunar sample ground transport system according to a preferred embodiment of the present invention.

[0032] In the attached diagram: 1. Pressure supply channel; 2. Static pressure gas bearing; 3. Pressure stabilizing chamber; 4. Spring; 5. Iron butt plate; 6. Bearing surface; 7. Vehicle platform; 8. Sample container bearing column; 9. Throttling orifice; 10. Cone; 11. Electric suction cup; 12. Pressure equalization chamber; 13. Bearing clearance. Detailed Implementation

[0033] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0034] See Figure 1 In a preferred embodiment of the present invention, a lunar sample ground transport system based on active disturbance rejection and air suspension is provided, characterized in that it includes a hydrostatic gas bearing 2, a sample container support column 8, and a vehicle platform 7; the sample container support column 8 is installed at the top of the hydrostatic gas bearing 2 and is used to support the sample container; the hydrostatic gas bearing 2 is placed on the vehicle platform 7.

[0035] The hollow hydrostatic gas bearing 2 forms an independent pressure stabilizing chamber 3 and a pressure equalizing chamber 12. The pressure stabilizing chamber 3 is located above the pressure equalizing chamber 12 and is connected through a throttling orifice 9 of a preset size. The end of the pressure equalizing chamber 12 near the vehicle platform 7 is an opening connected to the bottom of the hydrostatic gas bearing 2, and the contact surface between the bottom of the hydrostatic gas bearing 2 and the vehicle platform 7 is the bearing surface 6. The pressure stabilizing chamber 3 is provided with a pressure supply channel 1 for inputting high-pressure gas. The pressure stabilizing chamber 3 plays a buffering role against pressure fluctuations, ensuring that the pressure of the high-pressure gas flowing into the throttling orifice 9 remains stable. The high-pressure gas flows to the pressure equalizing chamber 12 through the throttling orifice 9 and forms a gas film in the bearing gap 13 between the bearing surface 6 and the vehicle platform 7 to suspend the hydrostatic gas bearing 2, achieving non-contact strong load-bearing support for the sample container.

[0036] A throttling device is provided at the throttling orifice 9 in the equalizing chamber 12. The throttling device includes an electric suction cup 11, a spring 4, an iron abutment plate 5, and a cone head 10. The side of the iron abutment plate 5 near the throttling orifice 9 has a cone head 10 that extends into the throttling orifice 9. The electric suction cup 11 is installed around the throttling orifice 9 and is connected to the iron abutment plate 5 through the spring 4. It is used to drive the iron abutment plate 5 to drive the cone head 10 to generate axial displacement. The electromagnetic force will attract or release the iron abutment plate 5 connected to the cone head 10, overcome the force of the spring 4, and accurately control the up and down displacement of the cone head 10, changing the depth of the cone head 10 extending into the throttling orifice 9. The cone head 10 is used to change the throttling area of ​​the throttling orifice 9 when axial displacement is generated.

[0037] Compared to the fixed throttling structure in a traditional hydrostatic gas bearing 2, the throttling orifice 9 of this invention can be adjusted by the throttling device of this invention, resulting in superior stiffness and dynamic response performance compared to the fixed throttling structure. The throttling device of this invention not only improves the load-bearing capacity of the gas film but also maintains high gas film stiffness and stability under different operating conditions.

[0038] In a preferred embodiment of the present invention, the hydrostatic gas bearing 2 and the vehicle platform 7 are connected within a preset movable range by a rope or spring to prevent the hydrostatic gas bearing from detaching when stationary or suspended.

[0039] In a preferred embodiment of the present invention, the transfer system further includes an active disturbance rejection control module; the active disturbance rejection control module includes a sensor, a multi-channel solenoid valve, a programmable DC power supply, and a controller.

[0040] Sensors are installed in the equalizing chamber 12 to collect first information in real time. The first information includes air film pressure and three-coordinate acceleration of the vehicle platform 7. The air film pressure reflects the load-bearing state of the static pressure gas bearing 2 in real time, and the three-coordinate acceleration reflects external disturbances such as road bumps in real time.

[0041] The controller is used to drive the multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel 1 according to the first information, and to drive the programmable DC power supply to change the throttling area of ​​the throttling orifice 9.

[0042] In a preferred embodiment of the present invention, driving a multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel 1 according to the first information, and driving a programmable DC power supply to change the throttling area of ​​the orifice 9 includes:

[0043] (a) When the initial information indicates that the system needs to withstand external shocks:

[0044] When the vehicle platform 7 vibrates and generates an upward acceleration, it is equivalent to the sample container having an upward impact force. The load on the hydrostatic gas bearing 2 decreases instantaneously, and the sensor will detect the sudden acceleration and the change in gas film pressure.

[0045] Under the rapid timescale of external impact, the electric suction cup 11 driven by the programmable DC power supply moves the cone 10 upward, reduces the opening of the throttling orifice 9, reduces the throttling area of ​​the throttling orifice 9, and increases the throttling effect. The airflow resistance into the bearing gap 13 increases, so that the pressure in the pressure stabilizing chamber 3 can be more effectively transmitted to the gas film, so as to rapidly increase the gas film pressure and enhance the bearing capacity. The sudden increase in gas film pressure provides greater bearing capacity, holds the sample container that is trying to fly upward due to inertia, suppresses its displacement, and maintains suspension stability.

[0046] Under the slow timescale of external impact, the multi-channel solenoid valve is driven to increase the gas supply pressure of pressure supply channel 1, providing stronger gas source support for the system.

[0047] (ii) When the first piece of information indicates that the system needs to resist external downward pressure:

[0048] When the vehicle platform 7 tilts downwards, generating downward acceleration, it is equivalent to the sample container being subjected to a downward impact force, and the load on the hydrostatic gas bearing 2 increases instantaneously.

[0049] Under the rapid timescale of external downward pressure, the electric chuck 11 driven by the programmable DC power supply moves the cone 10 downward, increasing the opening of the throttling orifice 9 and its throttling area, thus reducing the throttling effect. This allows gas to more easily flow into the bearing clearance 13, rapidly replenishing the gas film to maintain its thickness and prevent excessive reduction due to load impact, avoiding scratching. This rapid flow replenishment maintains sufficient bearing clearance 13 and load-bearing capacity, ensuring stable suspension.

[0050] On a slow timescale when external pressure occurs, the multi-channel solenoid valve is driven to reduce the gas supply pressure of pressure supply channel 1, thereby weakening the gas supply support of the system.

[0051] In a preferred embodiment of the present invention, the inner diameter of the throttling orifice 9 is in the range of 0.5 mm to 5 mm. Based on the inner diameter of the throttling orifice 9 itself, the throttling orifice 9 is dynamically adjusted by the cone head 10.

[0052] In a preferred embodiment of the present invention, the volume of the equalizing chamber 12 ranges from 0.3 mL to 1 mL. This facilitates the equalization of high-pressure gas.

[0053] In a preferred embodiment of the present invention, the maximum supply pressure range of the high-pressure gas is 0.8 MPa to 1.5 MPa. This provides sufficient gas pressure, thereby providing strong load-bearing capacity.

[0054] This invention presents a lunar sample ground transport system based on active disturbance rejection and air suspension. By introducing a controllable throttling static pressure gas bearing 2 for active disturbance rejection control, it achieves efficient coupling of gas supply, load-bearing capacity, and disturbance suppression. While ensuring strong load-bearing capacity, it can flexibly suppress external disturbances during transport, thereby significantly improving the overall performance of the transport system. This invention effectively solves the bottleneck problems of insufficient load-bearing capacity and poor disturbance suppression in existing technologies, achieving low-disturbance, safe, and reliable ground transport of lunar samples. It can provide a novel technical solution for the ground transportation of future lunar samples and even other deep space exploration samples, and has broad application prospects and promotional value.

[0055] A preferred embodiment of the present invention also provides a method for ground-based transport of lunar samples based on active disturbance rejection and air suspension. Based on the system of the present invention, the method includes:

[0056] The system facilitates the ground transfer of lunar samples and collects primary information in real time via sensors. This primary information includes the air film pressure and the three-coordinate acceleration of the onboard platform 7. The controller operates a multi-channel solenoid valve and a programmable DC power supply based on this primary information, including:

[0057] Based on the first information, the system needs to take response actions, including resisting external impacts or external downward pressure. Based on the response actions, the system drives the multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel 1, and drives the iron plate 5 to drive the cone head 10 to generate axial displacement through the programmable DC power supply, thereby changing the throttling area of ​​the throttling orifice 9 to achieve active disturbance rejection.

[0058] The lunar sample ground transport method based on active disturbance rejection and air suspension of the present invention, and the transport system based on the present invention, have the same beneficial effects as the transport system of the present invention.

[0059] The method of this invention actively and rapidly adjusts the opening of the throttling orifice 9 to change the throttling effect of the gas, thereby controlling the pressure distribution and magnitude inside the bearing gas film in real time and with precision. Combined with the coordinated control of the gas supply pressure, the load-bearing capacity of the gas film can dynamically match changes in external loads and external disturbances, ultimately achieving highly stable non-contact strong load-bearing support.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lunar sample ground transport system based on active disturbance rejection and air suspension, characterized in that, It includes a hydrostatic gas bearing (2), a sample container support column (8), and a vehicle platform (7); the sample container support column (8) is installed at the top of the hydrostatic gas bearing (2) and is used to support the sample container; the hydrostatic gas bearing (2) is placed on the vehicle platform (7). The hollow structure of the hydrostatic gas bearing (2) forms an independent pressure stabilizing chamber (3) and a pressure equalizing chamber (12); the pressure stabilizing chamber (3) is located above the pressure equalizing chamber (12) and is connected through a throttling orifice (9) of a preset size; the end of the pressure equalizing chamber (12) near the vehicle platform (7) is an opening connected to the bottom end of the hydrostatic gas bearing (2), and the contact surface between the bottom end of the hydrostatic gas bearing (2) and the vehicle platform (7) is a bearing surface (6); the pressure stabilizing chamber (3) is provided with a pressure supply channel (1) for inputting high-pressure gas, and the high-pressure gas flows to the pressure equalizing chamber (12) through the throttling orifice (9), and forms a gas film for suspending the hydrostatic gas bearing (2) in the bearing gap (13) between the bearing surface (6) and the vehicle platform (7); A throttling device is provided at the throttling orifice (9) in the equalizing chamber (12); the throttling device includes an electric suction cup (11), a spring (4), an iron abutment plate (5), and a cone (10); the iron abutment plate (5) has a cone (10) extending into the throttling orifice (9) on its side near the throttling orifice (9); the electric suction cup (11) is installed around the throttling orifice (9) and is connected to the iron abutment plate (5) through the spring (4), and is used to drive the iron abutment plate (5) to drive the cone (10) to generate axial displacement; the cone (10) is used to change the throttling area of ​​the throttling orifice (9) when axial displacement is generated; It also includes an active disturbance rejection control module; the active disturbance rejection control module includes a sensor, a multi-channel solenoid valve, a programmable DC power supply, and a controller; The sensor is installed in the equalizing chamber (12) and is used to collect first information in real time; the first information includes the air film pressure and the three-coordinate acceleration of the vehicle platform (7); The controller is used to drive the multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel (1) according to the first information, and to drive the programmable DC power supply to change the throttling area of ​​the throttling orifice (9).

2. The lunar sample ground transport system based on active disturbance rejection and air suspension according to claim 1, characterized in that, Based on the first information, the multi-channel solenoid valve is driven to adjust the air supply pressure of the pressure supply channel (1), and the programmable DC power supply is driven to change the throttling area of ​​the orifice (9), including: When the first information indicates that the system needs to resist external shocks: In the fast timescale of external impact, the programmable DC power supply drives the electric suction cup (11) to move the cone (10) upward, reduce the opening of the throttling orifice (9), and reduce the throttling area of ​​the throttling orifice (9) to rapidly increase the gas film pressure; in the slow timescale of external impact, the multi-channel solenoid valve is driven to increase the gas supply pressure of the pressure supply channel (1).

3. The lunar sample ground transport system based on active disturbance rejection and air suspension according to claim 2, characterized in that, The method of driving the multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel (1) according to the first information, and driving the programmable DC power supply to change the throttling area of ​​the throttling orifice (9) further includes: When the first information indicates that the system needs to resist external downward pressure: In the fast timescale of external pressure, the programmable DC power supply drives the electric suction cup (11) to move the cone (10) downward, increasing the opening of the throttling orifice (9) and increasing the throttling area of ​​the throttling orifice (9) to maintain the gas film thickness; in the slow timescale of external pressure, the multi-channel solenoid valve is driven to reduce the gas supply pressure of the pressure supply channel (1).

4. The lunar sample ground transport system based on active disturbance rejection and air suspension according to claim 3, characterized in that, The inner diameter of the throttling orifice (9) ranges from 0.5 mm to 5 mm.

5. The lunar sample ground transport system based on active disturbance rejection and air suspension according to claim 4, characterized in that, The volume range of the equalizing chamber (12) is 0.3 mL to 1 mL.

6. The lunar sample ground transport system based on active disturbance rejection and air suspension according to claim 5, characterized in that, The maximum supply pressure range of the high-pressure gas is 0.8MPa to 1.5MPa.

7. A method for ground transport of lunar samples based on active disturbance rejection and air suspension, based on the system described in any one of claims 2 to 6, characterized in that, The method includes: The system is used for ground transport of lunar samples, and the sensors collect first information in real time; the first information includes air film pressure and the three-coordinate acceleration of the vehicle platform (7); the controller drives the multi-channel solenoid valve and the programmable DC power supply to work according to the first information, including: Based on the first information, the system needs to make a response action, which includes resisting external impact or resisting external pressure. Based on the response action, the system drives the multi-channel solenoid valve to adjust the air supply pressure of the pressure supply channel (1), and drives the iron plate (5) to drive the cone (10) to generate axial displacement through the programmable DC power supply, thereby changing the throttling area of ​​the throttling orifice (9) to achieve active disturbance rejection.

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