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  本文關(guān)鍵詞：懸吊式宇航員低重力模擬系統(tǒng)動力學建模及控制分析　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 宇航員訓練 低重力模擬 懸吊法 單吊索重力補償模型 隨動控制

【摘要】：宇航員的地面訓練是載人航天任務(wù)實施的重要準備。以阿波羅探月任務(wù)為標志,任務(wù)中要求宇航員在特殊的太空環(huán)境下:移動軌跡愈加精確;活動范圍愈加寬廣;操作技巧愈加高超。在此背景下,在地面模擬太空的低重力環(huán)境,訓練宇航員艙外活動技能愈發(fā)重要。中、美、俄和歐盟等航天強國在地面低重力模擬方面的進行了大量研究,其中對于宇航員艙外活動的低重力模擬主要依靠水浮和失重飛行等被動方法,宇航員訓練時間和運動速度受到限制,不足以滿足未來任務(wù)的需求。隨著電機、傳感器及控制技術(shù)的進步,在宇航員艙外活動訓練中運用懸吊法主動的跟蹤宇航員運動,提供高精度重力補償?shù)南到y(tǒng)實現(xiàn)成為可能。首先,本文對宇航員多剛體鏈式模型建立了重力補償模型,得到了完整的補償力約束條件。在補償力約束條件下,限定補償力數(shù)目、作用點和方向,得到了一組單吊索重力補償模型的解。對應(yīng)的提出宇航員運動中單吊索重力補償?shù)膶崿F(xiàn)原理。分析宇航員訓練中的運動狀態(tài),完成懸吊式宇航員低重力模擬系統(tǒng)方案設(shè)計,確定單吊索重力補償可以高保真實現(xiàn)宇航員行走,奔跑以及空間機動的低重力模擬訓練。其次,根據(jù)宇航員運動的兩種狀態(tài),分別建立了對應(yīng)的宇航員-隨動懸吊系統(tǒng)的動力學模型。面向隨動控制方法研究,統(tǒng)一了隨動系統(tǒng)的動力學模型和控制目標。并通過數(shù)字仿真對建立的模型完成了動力學特性分析和驗證,發(fā)現(xiàn)宇航員-隨動懸吊系統(tǒng)存在未知擾動、耦合和非線性的動力學特性。最后,依據(jù)建立的的動力學模型,運用部分反饋線性化方法設(shè)計了穩(wěn)定的非線性隨動控制器。在ADAMS中搭建設(shè)計的模擬系統(tǒng),在MATLAB中建立隨動控制器,聯(lián)合兩者得到仿真實驗平臺,進行宇航員運動中的軀干質(zhì)心跟蹤實驗,分析控制器的性能,證明了系統(tǒng)設(shè)計的正確性。
[Abstract]:The astronauts' ground training is an important preparation for the implementation of the manned space mission. Marked by Apollo's mission to the moon, astronauts are required to have more precise mobile trajectories, wider range of activities and more excellent operation skills in special space environment. In this context, the training of astronauts' skills in extravehicular activity is becoming more and more important in the ground simulation of the low gravity environment in space. In the United States, Russia and the European Union and other space powers in low gravity ground simulation is studied, including low gravity for extravehicular activity mainly depends on the water and simulated weightlessness flight passive method, astronaut training time and movement speed is limited, inadequate to meet future tasks. With the progress of motor, sensor and control technology, it is possible to carry out the active tracking of astronaut motion in the astronaut extravehicular activity training and provide the high-precision gravity compensation system. First, the gravity compensation model is established for the multi rigid body chain model of astronauts, and a complete compensation constraint condition is obtained. Under the constraint of compensation force, the solution of a set of gravity compensation model for single sling is obtained by limiting the number of compensation force, the point of action and the direction. The corresponding principle of the realization of the gravity compensation of single sling in the astronaut movement is proposed. The motion state of astronaut training is analyzed, and the design of suspended astronaut low gravity simulation system is completed. The gravity compensation of single sling can ensure high fidelity to achieve astronaut walking, running and low gravity simulation training of space maneuver. Secondly, according to the two states of the astronaut movement, the corresponding dynamic model of the astronaut - servo suspension system is set up respectively. For the study of the servo control method, the dynamic model and the control target of the servo system are unified. The dynamic characteristics of the model are analyzed and verified by digital simulation. It is found that there are unknown disturbances, coupling and nonlinear dynamic characteristics of the astronaut servo suspension system. Finally, based on the established dynamic model, a stable nonlinear servo controller is designed by using the partial feedback linearization method. A simulation system is built in ADAMS, and a servo controller is set up in MATLAB. A simulation experiment platform is combined to carry out the tracking experiment of the trunk mass in the astronaut motion, and the performance of the controller is analyzed, which proves the correctness of the system design.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V416.8;V527

【參考文獻】

相關(guān)碩士學位論文 前1條

1 孫小雷;月球車地面六分之一重力試驗系統(tǒng)的位姿確定方法研究[D];哈爾濱工業(yè)大學;2010年

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本文編號：1337989