Design And Research On Active Gravity Compensation System Of Hanging Silk

Hanging silk active gravity compensation system which is aimed at assessing the performance of the space robot is designed to provide a zero-gravity (or micro-gravity) environment of space simulation of mechanical control system. How to provide realistic simulation of the space environment is also of concern to many scholars as an important element. With the progress of China's lunar exploration project, ground-space simulation has become a most Urgent problem to be solved.In order to simulate the low gravity environment of lunar surface on the earth, the need for lunar rover for gravity compensation must be concerned, a hanging wire-type crane structure, for gravity compensation is proposed. Accordingly, a 2-DOF crane mechanism is designed, and the driving method is chosen. The measurement programs for Lunar Rover displacement have been analyzed and the method measuring the swing angle of hanging wire is chosen to determine displacement of the lunar rover, so the swing hanging silk angle sensor is designed and fabricated for high-precision measurement of the angle of the hanging silk. Experiments show that Swing angle measurement accuracy can be increased to more than three decimal places. Swing angle sensor and the level of mathematical model of servo system is established, the simulation of two kinds of control strategy of velocity and displacement increment is analyzed respectively.DSPACE-based hardware-in-the-loop simulation platform, the dead zone and calibration experiments of swing angle sensor by using the ControlDesk virtual platform, a horizontal experimental model of servo control system is established by using the calibration parameters, and the speed, the displacement increment and location of the closed-loop three kinds of control strategy are studied In the experiment respectively. Experimental results show that the incremental displacement and location of the closed-loop two kinds of control strategies all have good stability, rapidity and accuracy, and has a very high level servo tracking accuracy, the hanging wire can be guaranteed to always maintain a very small angle with the vertical direction in any place. Meanwhile, the results also prove the feasibility of establishing large-scale high-precision hanging wire micro-gravity experiments by using this method.