Research On Dynamics And Control Of The Astronaut Walking In The Spinning Spacecraft With Artificial Gravity

With the rapid development of the space technology and the space exploration, the technology of artificial gravity has been paid more and more attention to by research institutions of the world. In this thesis, the dynamics and control of the astronaut walking in the spinning spacecraft with artificial gravity are studied.Firstly, this thesis analyzes the walking process of human body on the ground, establishes the rigid three-link model of human walking in inertial system on the ground, defines the generalized coordinates of the system, calculates the kinetic energy and potential energy of the model, establishes the dynamic equation of the system by using the Lagrange equation.Then, according to the walking process of the astronaut in the spinning spacecraft with artificial gravity, the model of the spinning spacecraft with artificial gravity, as well as the rigid three-link model of the astronaut walking in the spacecraft are established. The effects of gravity gradient and Coriolis force on the rigid three-link model in the artificial gravity field are analyzed. The dynamic equation of the rigid three-link model is derived based on the Lagrange equation. Then the walking process of the model is simulated with MATLAB. In the simulation analysis, the fuzzy PD control is used to simulate the control logic of the human body, which makes it a closed loop dynamic system. Through the numerical simulation analysis, the motion trajectory of the three-link model and the Coriolis force are obtained, which illustrate that the three-link model of human walking is able to overcome the effects of gravity gradient and the Coriolis force, achieve balance while walking.Finally, in order to further verify the correctness of the dynamic equation of the rigid three-link model of human walking in the artificial gravity field, the virtual prototyping technology is introduced. The virtual prototyping model of the spinning spacecraft with artificial gravity and the rigid three-link model of human walking in the spacecraft are established by ADAMS. The ADAMS-MATLAB united simulation is conducted with interactive interface. The results of the united simulation are highly consistent with the MATLAB simulation results, which verify the correctness of the derived dynamic model of the rigid three-link model of the astronaut walking in the spinning spacecraft with artificial gravity.