航天员微重力作业训练系统重力补偿控制策略

针对航天员微重力作业训练系统的重力场补偿控制这一关键技术，进行了理论和实验研究。分析了模拟微重力环境的机理，确定了微重力作业训练系统的总体结构方案，提出了一种基于电流反馈的重力补偿控制及多干扰力补偿控制策略。通过虚拟重力补偿控制实验，验证了在地面环境、动态作业过程中，模拟物体在不同空间重力加速度环境下的运动规律，实现了在重力方向模拟空间环境下物体移动的作业训练效果。研究成果为在地面实现三维作业训练系统的控制奠定了基础。

Gravity Compensation Control Strategy of Astronaut Microgravity Operation Training System

Aiming at the key technology of gravity field compensation control of astronaut microgravity operation training system, theoretical and experimental research is carried out. The mechanism of simulating microgravity environment is analyzed, the overall structure scheme of the microgravity operation training system is determined, and a gravity compensation control and multi disturbance force compensation control strategy are proposed based on current feedback. Through the virtual gravity compensation control experiment, the motion law of simulated objects in different space gravitational acceleration environment is verified in the ground environment, and the operation training effect of object movement in the gravity direction simulation space environment is realized. The research results lay a foundation for the control of the three dimensional operation training robot system on the ground.