华中科技大学学报（自然科学版）2025，Vol.53Issue(6)：139-144,6.DOI:10.13245/j.hust.250619
月球车磁浮-悬吊重力补偿恒力控制系统设计
Design of constant force control system of magnetic levitation-suspension gravity compensation for lunar rover
摘要
Abstract
To meet the needs of microgravity experiment of lunar rover ground walking,and overcome the influence of traditional suspension on gravity compensation accuracy due to friction,complex pulley block and other factors,an active-passive composite magnetic levitation gravity compensation method was proposed.Based on the overall design scheme,the correlation model and interference force model of terrain input and magnetic levitation air gap were established and verified by simulation,and the control system of stable suspension and constant force compensation was designed.Simulation results show that the control method can realize the stable suspension of the electromagnet and ensure the output accuracy of the constant compensation force.The feasibility of the magnetic levitation stable suspension control method was further verified by no-load and bias load experiments.Experiment results show that the magnetic levitation servo component can achieve stable suspension under certain disturbances.关键词
磁悬浮/重力补偿/微重力模拟/恒力控制/月球车Key words
magnetic levitation/gravity compensation/microgravity simulation/constant force control/lunar rover分类
机械制造引用本文复制引用
邱雪松,吴承霖,邵梓康,何俊颉,李冬生..月球车磁浮-悬吊重力补偿恒力控制系统设计[J].华中科技大学学报（自然科学版）,2025,53(6):139-144,6.基金项目
河北省自然科学基金资助项目(E2021203021). （E2021203021）
