The Research And Implementation Of Key Control Technology Of The Air Bearing Testbed

With the rapid development of technology, a lot of powerful countries compete for space resource more and more intensely, which demands the structure of spacecraft and complexity of task increased by time, so that it could ensure the success of space experiment and embody the importance and complexity of the ground physical simulation.This thesis takes the ground physical simulation as a research direction, which is focused on the design and application for relevant technologies and implementation of air bearing testbed. Air bearing testbed consists of two subsystems: test platform and six degree freedom air bearing testbed. Test platform reduces the marble flatness requirements, and air bearing testbed system is made up eight subsystem, of which three are designed and implantation which are base support leveling system and vertical displacement and press control system.For design and implementation of base support leveling system, firstly introduced by relevant description and presentation giving the leveling method called four-point center –fixed leveling method related to this system and leveling method formula is derived; Then hardware and software of control module are finished and explained, including the choice of chip, design of circuit and software design. Finally, design of controller based on PID parameter tuning and test platform tested are finished, which is discussed and verified relevantly that illustrates further its rationality.For design and implementation of air bearing testbed, firstly introduced by relevant design and simulation of vertical system after finishing establishing dynamic model of vertical system, then sliding mode control is introduced, and based on proportion switch SMC, reaching law SMC and one-order dynamic SMC are researched in displacement control, at the same time based on improved proportion switch SMC is researched in press control, and comparison of based on external perturbance on SMC and PID are given. Finally, design and implementation of vertical control system is explained which is illustrated from software and hardware, and some experimental data are given also to verified the vertical control system.