The Study Of Control System Design On Lunar Gravity Simulator In An Earth Gravity Environment

Due to the unique location and potential resources of space, the lunar not only has become a prime target of choice for deep space exploration, but also is the ideal outer base and outposts for the space technique development. However, the gravity of lunar is only 1/6 of the gravity in earth gravity environment. So if we want to simulate the gravity of lunar on earth, we must make 1/6 mg of lunar surface vehicle (LSV) in earth gravity environment. To achieve this goal, it need the special organization generate 5/6mg constant pull and must maintain the servo system adapt to a wide range, high precision servo demand.In this thesis, according to the 1/6 gravity simulator system, the servo system has become the core problem of this paper. The servo system, using crane and suspension platform as the actor, adopts the dual-stage servo strategy to meet the large-scale, high precision servo needs. In the servo system, the crane servo system is used to achieve the demand of wide range, suspension platform for high accuracy requirements. The two devices play their respective advantages and complement each other together to complete the servo task.In the dual-stage servo strategy, because of the dynamic coupling, it generates a positive feedback signal in the control system which makes the system instability. The limiting circuit is used in the paper which ensures the stability of the servo system.In addition, this paper also completes the selection of the actor, control process design, control algorithm analysis and so on.The simulation analysis shows that whether the steady-state error or the transient error of the servo system has achieved the servo requirements. Therefore, the control system using the servo strategy has achieved the large-scale, high-precision servo requirements. Besides, the feasibility of this strategy has been proved by many other experts. So the dual-stage servo strategy is feasible.