Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators

WANG Lingyu; WU Hongtao; ZHANG Xuexiang; LIU Yanli; YANG Xiaolong

doi:10.16080/j.issn1671-833x.2018.04.065

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Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators

更新时间：2025-10-30

- Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators
- Aeronautical Manufacturing Technology Vol. 61, Issue 4, Pages: 65-72(2018)
- 作者机构：
  
  1. 南京航空航天大学机电学院,南京,210016
  2. 江苏安全技术职业学院机械工程系,徐州,221011
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2018.04.065
  CLC：
- Published：2018
- 稿件说明：
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王灵禺，吴洪涛，张学祥，刘艳梨，杨小龙. 气电联合的六维微重力模拟平台自抗扰控制研究[J]. 航空制造技术, 2018, 61(4): 65-72.

WANG Lingyu, WU Hongtao, ZHANG Xuexiang, LIU Yanli, YANG Xiaolong. Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators[J]. Aeronautical Manufacturing Technology, 2018, 61(4): 65-72.
王灵禺，吴洪涛，张学祥，刘艳梨，杨小龙. 气电联合的六维微重力模拟平台自抗扰控制研究[J]. 航空制造技术, 2018, 61(4): 65-72. DOI： 10.16080/j.issn1671-833x.2018.04.065.

WANG Lingyu, WU Hongtao, ZHANG Xuexiang, LIU Yanli, YANG Xiaolong. Research on Active Disturbance Rejection Control of a 6-DOF Microgravity Simulation Platform With Hybrid Pneumatic-Electric Actuators[J]. Aeronautical Manufacturing Technology, 2018, 61(4): 65-72. DOI： 10.16080/j.issn1671-833x.2018.04.065.

摘要

硬件在环仿真是航天设备进行地面模拟试验所需的关键技术之一，其中硬件系统需要较高的承载能力以及高频响、高精度的控制性能。提出一种六维微重力模拟平台气电联合控制的方法，6 条支腿均由气缸和电动缸并联构成，气缸提供硬件平台80%~90% 的负载，电动缸保证控制系统的精度和响应速度。其中气动压力控制系统是非线性很强的时变系统，采用积分型线性自抗扰控制器对其进行控制，相比于PID 算法精度更高、响应速度更快，并且具有较强的鲁棒性。

Abstract

HIL (Hardware-In-the-Loop) simulation is one of the key technologies for aerospace devices to imple-ment microgravity simulation experiment on the ground

where the hardware system needs high carrying capacity

high frequency response and high precision control performance. Therefore

a hybrid pneumatic-electric actuator is proposed for the 6-DOF microgravity simulation platform. Each leg of the platform is composed of a cylinder and a servo motor in parallel. The cylinders support 80%-90% of load and the servo motors ensure the high accuracy of the control system. Since the pneumatic force control system is a highly nonlinear system

an integral-linear active disturbance rejection controller (I-LADRC) is proposed. Compared to the PID algorithm

this controller provides a higher precision

faster response and stronger robustness.

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