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<p>During the large-scale ground deploying test of the telemetry antenna, the traditional fuzzy PID typically brings about the problems of slow response speed, weak anti-interference capability and poor self-adaptability. This paper is devoted to propose a variable-domain fuzzy PID control strategy for a reconfigurable active–passive hybrid suspension gravity compensation device. By analyzing the structural characteristics of the suspended gravity compensation device, a dynamic equation for the system’s deploying process has been established. A fuzzy PID controller that integrates rope tension and spatial angle input signals is proposed, and a scaling factor model is designed to dynamically adjust the input and output domains to adapt to the actual working conditions of the antenna deployment range, speed, and load. Finally, a gravity compensation test is conducted to verify the designed device and method, which shows obvious enhanced performance. The inclination angle of the wire rope has been reduced by 30%. In the simulation of vertical, horizontal or pitch development, the error of vertical suspension force can be controlled within 1%, meeting the experimental requirements.</p>

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Investigation of Gravity Compensation Control Strategy for a Hybrid Active–Passive Following System

  • 期刊论文

  • 发表日期：

    2025年6月20日

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  • Qingxia Wang,
  • Yanhe Shi,
  • Shunzhou Huang,
  • Shuai Yang,
  • Na Li

摘要

During the large-scale ground deploying test of the telemetry antenna, the traditional fuzzy PID typically brings about the problems of slow response speed, weak anti-interference capability and poor self-adaptability. This paper is devoted to propose a variable-domain fuzzy PID control strategy for a reconfigurable active–passive hybrid suspension gravity compensation device. By analyzing the structural characteristics of the suspended gravity compensation device, a dynamic equation for the system’s deploying process has been established. A fuzzy PID controller that integrates rope tension and spatial angle input signals is proposed, and a scaling factor model is designed to dynamically adjust the input and output domains to adapt to the actual working conditions of the antenna deployment range, speed, and load. Finally, a gravity compensation test is conducted to verify the designed device and method, which shows obvious enhanced performance. The inclination angle of the wire rope has been reduced by 30%. In the simulation of vertical, horizontal or pitch development, the error of vertical suspension force can be controlled within 1%, meeting the experimental requirements.