The control stra t egyo f lo w gravitys imu l ati o n sy s temZHU Qidan1,CHEN Liheng1,LU Hongqian2(1. College of Automation, Harbin Engineering University, Harbin 150001, China; 2. Center for Control Theory and Guidance Tech-nology, Harbin Institute of Technology, Harbin 150001, China)Abstract:In order to make the low gravity simulation system meet the research and debugging of a lunar rover, thesystem 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 compo-nents 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 thecharacteristics of the system and the index requirements of the lunar rover testing process for low gravity environ-ment, the Hゥcontroller of the system is designed for this purpose. It is verified that the controller solves the problemof the parameter uncertainty and avoids the mechanical resonance of the motor. The system ensured that the error isless than 3. 4 N under the interference of the vertical acceleration of the lunar rover.Keyword s :robust controller; parameter uncertainty; constant tension; low gravity simulation; lunar rover; controlstrategy　　随着我国“嫦娥”探月工程的深入进行,利用巡视车对月球表面勘察、采样成为了未来的一项重要任务。 为了保证巡视车动力性能可以适应月球的低重力场,需要在发射前模拟低重力环境对巡视车进行检测、调试,否则不匹配的动力性可能会破坏巡视收稿日期:2013- 09- 11.基金项 目: 国 家 自 然 科 学 基 金 资 助 项 目 ( 61175089, 61203255,61021002).作者简介:朱齐丹(1963- ),男,教授,博士生导师.通信作者:朱齐丹,E- mail:zhuqidan@hrbeu. edu. cn.网络出版时间:2014- 09- 25.车设备[1],对勘探任务造成巨大影响。