The control strategy of low gravity simulation system

In order to make the low gravity simulation system meet the research and debugging of a lunar rover, the system needs to overcome the problem that the system cannot work well when the disturbance is in vertical direction. A constant tension servo system for providing vertical tension is set up. The working characteristics of key components are analyzed and the mathematical model of the key components is established, which includes the norm-bounded parameter uncertainty. The nominal model and the uncertainty parameter were separated. According to the characteristics of the system and the index requirements of the lunar rover testing process for low gravity environment, the H_∞ controller of the system is designed for this purpose. It is verified that the controller solves the problem of the parameter uncertainty and avoids the mechanical resonance of the motor. The system ensured that the error is less than 3.4 N under the interference of the vertical acceleration of the lunar rover.