中性浮力法是模拟空间微重力环境的一种常用手段,其原理是利用水的浮力平衡物体所受的重力,使物体处于漂浮状态.该方法模拟的微重力环境相似度高,持续时间长,可以提供6自由度运动模拟,因此采用该方法实现空间飞行器空间任务的地面模拟演示和功能验证是可行的.研究了中性浮力下实验体模拟对地定向控制律设计问题.首先根据流体力学和动量矩定理推导出实验体的姿态动力学方程,并通过本体坐标系与参考坐标系的关系,得出用于控制的动力学方程.然后在理想状态下基于该动力学方程,使用Lyapunov方法设计实验体模拟对地定向控制律,并证明了闭环系统的渐进稳定性.最后通过仿真验证了控制算法的性能.为中性浮力环境下实验体的空间任务模拟提供理论基础.%The neutral buoyancy is a frequently method for the simulation of microgravity. This approach balance the gravity with the buoyancy of water to keep the object floating. It has the advantages of high space similarity, long duration and have a 6D0F free motion analog. Therefore this method can be used to achieve the ground demonstration and functional verification of space missions. A design of earth orienting analog control law with neutral buoyancy for experimental model is given. The equation of attitude dynamics based on hydrodynamics and momentum moment theorem is first derived, and then provided the function for control via the relationship of the model coordinate system and the reference frame. And then on the basis of the dynamical equation under the perfect state, the earth orienting analog control law is designed by the Lyapunov approach, following a prove of asymptotic stability of the closed loop system. Finally the control performance by simulation, providing fundamental basis for the model s analog of space missions with neutral buoyancy is verified.
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