| Related citation: | Xuesong Qiu,Dongsheng Li,Mengxu Li,Ya’nan Wang,Jian Liu.Research on Suspension Gravity Compensation System of Lunar Rover with Magnetic Levitation Servo[J].Journal of Harbin Institute Of Technology(New Series),2023,30(1):24-34.DOI:10.11916/j.issn.1005-9113.2021134. |
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| Author Name | Affiliation | | Xuesong Qiu | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China | | Dongsheng Li | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China | | Mengxu Li | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China | | Ya’nan Wang | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China | | Jian Liu | College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China |
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| Abstract: |
| In order to overcome the shortcomings of the traditional sling suspension method, such as complex structure of suspension truss, large running resistance, and low precision of position servo system, a gravity compensation method of lunar rover based on the combination of active suspension and active position following of magnetic levitation is proposed, and the overall design is carried out. The dynamic model of the suspension module of microgravity compensation system was established, and the decoupling control between the constant force component and the position servo component was analyzed and verified. The constant tension control was achieved by using hybrid force/position control. The position following control was realized by using fuzzy adaptive PID (proportional-integral-differential) control. The stable suspension control was realized based on the principle of force balance. The simulation results show that the compensation accuracy of constant tension could reach more than 95%, the position deviation was less than 5 mm, the position deviation angle was less than 0.025°, and the air gap recovered stability within 0.1 s. The gravity compensation system has excellent dynamic performance and can meet the requirements of microgravity simulation experiment of lunar rover. |
| Key words: microgravity simulation gravity compensation constant force control hybrid force/position control fuzzy adaptive PID control stable suspension control |
| DOI：10.11916/j.issn.1005-9113.2021134 |
| Clc Number:V416.5 |
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| Descriptions in Chinese: |
| 月球车磁悬浮随动悬吊式重力补偿系统研究 邱雪松，李冬生，李孟旭，王亚楠，刘健 (燕山大学 机械工程学院，河北 秦皇岛 066004) 摘要：为克服传统悬吊法悬索支撑桁架结构复杂、位置跟随系统运行阻力大、精度低的不足，提出基于主动式悬吊法与磁悬浮主动位置跟随相结合的月球车重力补偿方法，并进行总体设计。建立微动精调模块动力学模型，分析验证悬吊恒力组件与位置伺服组件之间的控制解耦；采用力/位混合控制实现恒拉力控制；利用模糊自适应PID控制实现位置跟随控制; 基于力平衡原理实现稳定悬浮控制。仿真实验结果表明，恒拉力补偿精度可达到95%以上，位置偏差小于5 mm，位置跟踪偏差角小于0.025°，气隙在0.1 s内恢复稳定，重力补偿系统具有良好的动态性能，能够满足月球车行进过程低重力模拟实验要求。 关键词：微重力模拟；重力补偿；恒力控制；力/位混合控制；模糊自适应PID；稳定悬浮控制 |
