Journal of Astronautics ›› 2022, Vol. 43 ›› Issue (9): 1268-1276.doi: 10.3873/j.issn.1000-1328.2022.09.014

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Gravity Compensation Control Strategy of Astronaut Microgravity Operation Training System

WANG Zhenhan, ZHANG Lixun, XUE Feng, CHEN Xuyang   

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
  • Received:2022-03-14 Revised:2022-06-16 Online:2022-09-15 Published:2022-09-15

Abstract: Aiming at the key technology of gravity field compensation control of astronaut microgravity operation training system, theoretical and experimental research is carried out. The mechanism of simulating microgravity environment is analyzed, the overall structure scheme of the microgravity operation training system is determined, and a gravity compensation control and multi disturbance force compensation control strategy are proposed based on current feedback. Through the virtual gravity compensation control experiment, the motion law of simulated objects in different space gravitational acceleration environment is verified in the ground environment, and the operation training effect of object movement in the gravity direction simulation space environment is realized. The research results lay a foundation for the control of the three dimensional operation training robot system on the ground.

Key words: Microgravity training, Gravity compensation, Interference force compensation

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