上海航天（中英文）2025，Vol.42Issue(3)：72-79,87,9.DOI:10.19328/j.cnki.2096-8655.2025.03.009
基于力反馈的月面起重机摆振主动抑制
Active Swing Suppression of Lunar Cranes Based on Force Feedback
徐连凯 1吴松 2马越峰 1唐国安1
作者信息
- 1. 复旦大学 智能机器人与先进制造创新学院,上海 200433
- 2. 复旦大学 智能机器人与先进制造创新学院,上海 200433||上海宇航系统工程研究所,上海 201109
- 折叠
摘要
Abstract
In the construction of extraterrestrial bases such as the Moon,cranes areessential engineering equipment.Because of the weak personnel support ability,the swing during the lifting operation should be suppressed as much as possible by the actuating ability of the equipment itself.Based on the basic mechanical principle that the mechanical energy of a dynamic system can be dissipated by negative work,an active suppression method is proposed to control the movement of the lifting point of the crane according to the hanging force.The stability of the closed-loop system is proven mathematically.An experimental scheme is designed to verify the swing reduction principle of the crane with a system composed of a planar two-degrees-of-freedom manipulator,a multi-axial force sensor,and a real-time simulation controller.The results show that under the active action of the lifting point,the swing can be rapidly stopped,and the attenuation time is reduced to 1.53%of the free vibration.关键词
起重机/摆振/振动抑制/力反馈/动态响应Key words
crane/swing/vibration suppression/force feedback/dynamic response分类
数理科学引用本文复制引用
徐连凯,吴松,马越峰,唐国安..基于力反馈的月面起重机摆振主动抑制[J].上海航天（中英文）,2025,42(3):72-79,87,9.
