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针对做复杂运动的飞行器地面微重力试验环境模拟困难的问题,设计了一种新的空间微重力地面模拟系统。该系统采用剪式传动、轴承导向、电机驱动和气悬浮的组合方式来实现复杂运动微重力环境的模拟,通过力反馈控制方式来实时抵消目标的重力。首先建立系统动力学模型,考虑到试验目标本体等非线性驱动及模型本身的不确定及摩擦干扰,该控制策略采用滑模变结构控制来补偿非线性因素的影响,滑模面采用积分型切换函数从而降低了抖振,保证了系统的鲁棒性。实验结果表明,该地面试验装置对于三维空间微重力模拟能达到较高精度,且控制方法简单,易于实现,具有很高的工程应用价值。
Aimed at the difficulty of simulating the ground microgravity test environment of aircraft in complex movement, a new space microgravity terrain simulation system is designed. The system adopts the combination of scissor-type transmission, bearing-oriented, motor-driven and gas-levitation to simulate the complex motion and micro-gravity environment and compensate the target gravity in real time through the force feedback control method. Firstly, the system dynamics model is established. Taking into account the nonlinear driving of the test target body and the model itself, the control strategy adopts sliding mode variable structure control to compensate for the influence of nonlinear factors. The sliding mode surface adopts integral switching The function thus reduces chattering, ensuring system robustness. The experimental results show that the ground test device can achieve high precision for three-dimensional micro-gravity simulation, and the control method is simple and easy to implement, which has high engineering application value.