空间微重力环境地面模拟系统的控制器设计  

Design of the Controller for a Ground Simulation System of Spatial Microgravity Environment

作　　者：陈三风[1] 梅涛[1] 张涛[1] 汪小华[1] 

机构地区：[1]中国科学院合肥智能机械研究所仿生感知与控制研究中心

出　　处：《机器人》2008年第3期201-204,共4页Robot

摘　　要：针对小型和迷你型试验目标,提出一种新的空间微重力环境模拟系统.系统采用平面气浮和气缸垂直悬浮组合方案来模拟空间微重力环境,并采用恒张力控制思想来模拟垂直地面方向上的微重力状态.采用RBF神经网络控制和滑模变结构控制复合控制方案,其中RBF神经网络用于逼近和补偿系统的不确定信息,并作为前馈补偿使跟踪误差快速收敛;通过滑模变结构控制消除RBF神经网络的逼近误差和不定随机干扰的影响,保证系统的鲁棒性.实验研究结果表明,该控制方案是有效的,系统具有较好的动态响应能力、鲁棒性和自适应能力.A novel system is proposed to simulate the spatial microgravity environment for small and mini experimental objects. The compound scheme adopts horizontal air-bearing and pneumatic cylinder vertical suspending to simulate spatial microgravity environment. The vertical microgravity status is simulated with the scheme of constant tensility. The compound control scheme adopts radial basis function neural network （RBFNN） and sliding model variable structure controller, where RBFNN is employed to approximate anti compensate uncertainties of the system and works as a feed-forward compensator to make the tracking error converge fast. The sliding model variable structure control is employed to obtain system robustness by rechucing the influence of RBFNN approximation emir and random disturbance. The experimental results show that the control system is effective, and it produces good dynamic performance, high robustness and good self-adaptive capacity.

关 键 词：微重力 气缸 RBF神经网络 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]