Research On Gravity Compensation System Of Electric Magnetic Levitation Planetary Vehicle

The development of deep space exploration technology is crucial to establishing the status of a country,and space micro-low gravity environment simulation is a key link to promote the development of space exploration technology.With the return of Chang’e 5 to Earth with the lunar soil,my country’s aerospace engineering has entered a new historical process,and Mars exploration has also been included in the exploration plan.Faced with more and more outer space exploration mission requirements,higher requirements are also put forward for the simulation of the space microgravity experiment environment.This paper analyzes the advantages and disadvantages of existing microgravity experimental methods,proposes a gravity compensation method based on the principle of electric magnetic levitation,and conducts related research.First,the determination of the principle of magnetic levitation gravity compensation and system design.Aiming at the goal of the planetary vehicle walking microgravity environment simulation experiment,the existing various gravity compensation methods and the realization principle of gravity compensation are compared and analyzed,and their respective advantages and disadvantages are summarized,and a non-contact gravity compensation method using the principle of magnetic levitation is proposed,and the simulation is equivalent.Microgravity environment.Through system feasibility analysis and comparison of system qualification indicators,the electric magnetic levitation system is modularized and sub-assembled,and the influence of the magnetic levitation system on the overall system kinematics is analyzed.The principle of gravity compensation based on the electric magnetic levitation is determined,and the principle design of the gravity compensation system is completed.Secondly,analysis of electromagnetic levitation characteristics combined with the requirements of gravity compensation function.For the electric magnetic levitation system,conduct magnetic field dynamic and static analysis,and magnetic field static analysis of permanent magnets.Starting from the principle of the magnetic field distribution of the Halbach array permanent magnets,the arrangement of the rare earth magnets is reorganized according to actual needs,so that it has better magnetic properties.Then use Maxwell’s equations to establish a magnetic field dynamic analysis model,and simulate and analyze the system through simulation software.From the perspective of changing the rate of change of the magnetic field and the magnetic air gap,the magnetic buoyancy and magnetic field eddy current loss are comprehensively analyzed to determine the maximum speed and air gap.Optimal ratio relationship,while building a small experimental platform to provide a physical carrier for the subsequent control system.Finally,analysis of gravity compensation control mechanism and formulation of control strategy.Combined with the overall analysis of the system,in order to meet the requirements of the system for damping,a follow-up controllable embedded active damping device is designed.Select the servo control method,determine the time variable and invariant,use the classic PID control method to control the system,take the motor speed as the control object,and achieve the control of the force by real-time control of the motor speed.The system transfer function is deduced,and the coefficients in PID control are determined by Simulink,and finally the stable control of the system is realized.