不同重力环境下空间机构电机驱动力差异

为了分析空间机构在不同重力环境中的驱动力差异，以单关节机械臂为研究对象，进行不同重力环境下直流电机驱动力差异分析。首先基于拉格朗日方程推导出单关节机械臂的动力学模型，为分析不同重力环境下，负载、摩擦和转速的变化对电机驱动力的影响，通过设计一套基于单关节驱动的机械臂试验装置，进行地面重力环境、地面模拟微重力环境和落塔微重力环境试验。然后基于试验数据详细分析了不同重力环境下空间机构电机驱动电流的差异，并基于试验数据对电机动力学方程中的摩擦参数进行辨识，从而获得基于试验数据修正的机械臂动力学仿真模型，为空间机构动力学设计与应用提供理论与试验依据。

Difference of Driving Force of Space Mechanism Motors in Different Gravity Environments

In order to analyze the difference of driving force of space mechanism in different gravity environments, the single joint manipulator is used as the object to study the difference of DC motor driving force under different gravity environments. Firstly, the dynamic model of the single joint manipulator is derived based on the Lagrange equation. At the same time, in order to analyze the influence of load, friction and speed changes on the driving force of the motor under different gravity environments, a single joint driven mechanical arm test device is designed to carry out under the ground gravity environment, the ground simulated microgravity environment and the falling tower microgravity environment tests. Based on the test data, the difference of the motor drive current of the space mechanism under different gravity environments is analyzed in detail. Based on the experimental data, the friction parameters in the motor dynamics equation are identified, and the dynamic simulation model of the manipulator based on the experimental data is obtained, which provides theoretical and experimental basis for the design and applications of space mechanism dynamics.