基于势能守恒的微低重力模拟系统研究

为满足航天任务验证和航天员地面训练需求，研发了一种基于势能守恒原理的微低重力模拟装置，该装置结构简单、制造维护成本低、可模拟任意重力环境。本文以该微低重力模拟系统为研究对象，对重力补偿原理进行推导并导出弹簧刚度与系统构件惯性参数间关系；采用Lagrange第二类方程建立了系统的动力学模型，并基于MATLAB软件仿真验证了航天员经该微低重力模拟装置进行重力补偿后的静力学、动力学特性，此外针对航天员在月球表面跳跃的工况进行仿真分析。仿真结果表明，系统能很好的实现任意重力的静态补偿，较好的实现动态补偿，能很好满足航天员在月跳跃工况的训练。针对动态补偿存在微小偏差问题，提出了系统摩擦补偿和惯性补偿思路。

The study of micro-low gravity simulation system based on potential energy conservation

To meet the needs of space mission verification and astronaut training on the ground, a micro-low gravity compensation device based on conservation of potential energy has been developed. The device has a simple structure, low manufacturing and maintenance costs, and can simulate any gravity environment. This paper takes the micro-low gravity compensation system as the research object, derives the principle of gravity compensation and the mapping relationship between the spring stiffness and the inertial parameters of the system components; the Lagrange second type equation is used to establish the dynamic model of the system, the static and dynamic characteristics of the astronauts was experimented based on MATLAB software simulation after gravity compensation by the micro-low gravity simulation device, In addition, simulation analysis is carried out for astronauts jumping on the surface of the moon. The simulation results show that the system can well realize the static compensation of arbitrary gravity, and better realize the dynamic compensation, which can well meet the training of astronauts in the lunar jump conditions. The simulation results show that the system can realize the static compensation of arbitrary gravity and the dynamic compensation well. Aiming at the problem of small deviation in the dynamic compensation, the system friction compensation and inertia compensation ideas are proposed.