中文摘要：

设计了大跟踪范围的星球车重力补偿系统.星球车重力补偿系统主要包含拉力系统和位置系统：拉力系统产生恒定吊索补偿力;位置系统搭载拉力系统并跟踪星球车水平面投影,保持吊索垂直.为提高拉力系统快速性并避免激发位置系统纵振,提出粗精控制结合、开环闭环结合的拉力系统方案：使用同轴、相对布置的大、小电机驱动卷筒收放吊索;使用被动的恒力机构张紧吊索.工作时,大电机输入主要拉力,抑制低频拉力干扰;小电机精确调整拉力,抑制中频干扰;在电机响应滞后时,恒力机构使用其开环特性响应高频干扰.为在大范围内准确跟踪星球车,提出双层位置伺服的位置系统方案：使用天车系统搭载2维跟踪平台;天车系统运动范围大、精度低、快速性差,使用其进行大范围初步跟踪,达到粗调的目的;跟踪平台运动范围小、精度高、快速性好,使用其进行小范围精确跟踪,达到精调的功能.补偿系统覆盖面积30m×30m.实践证明,按照以上方法构造的重力补偿系统的位置跟踪误差小于0.01m;普通情况下,拉力补偿误差小于±0.5%;阶跃干扰出现时,拉力补偿误差小于1.5%.

英文摘要：

A large scale gravity compensation system for planetary rovers is designed. The compensation system comprises a tension system and a position system： the tension system generates the constant tension of the string; the position system carries the tension system to follow the horizontal motion of the rover so as to keep the string vertical. To acquire rapidity and dynamic precision without resonating the position system, a macro-micro and open-closed loop design is brought forward： the coaxial macro and micro motors drive the winding drum to adjust the length of the cable; a constant-force mechanism is used to strain the string. The macro motor generates the majority of the tension and suppresses the low-frequency disturbance; the micro motor precisely adjusts the tension of the string to suppress intermediate-frequency disturbance; the constant-force mechanism suppresses high-frequency disturbance with its open loop performance. To precisely follow the rover over a large scale, a double position servo system is used： the girder-trolley system carries the two-dimensional platform; the girder-trolley system covers a large area but is sluggish and imprecise, and therefore is used to imprecisely follow the rover over a large area; the platform is precise and fast but covers a small area, and therefore is used to precisely follow the rover. The system covers a 30 m×30 m area. Experiments show that the position error does not exceed 0.01 m and the force compensation error does not exceed ±0.5% under normal working condition. When step interference emerges, the force compensation error does not exceed 1.5%.