地面失重实验系统的控制器设计  

The controller design of ground microgravity testing system

作　　者：林旭梅[1] 梅涛[1] 

机构地区：[1]中国科学院合肥智能机械研究所

出　　处：《中国科学技术大学学报》2008年第5期542-548,共7页JUSTC

基　　金：国家自然科学基金(50275141)资助

摘　　要：主要讨论在地面上模拟空间微重力环境时,地面失重实验系统的控制器设计.从目标物体的静止和运动两种情况,分析了目标物体碰撞后的运动学关系,在垂直方向上通过恒张力控制来模拟目标物体太空失重的状态,提出了在极坐标下对碰撞后的目标物体进行偏转角度和偏转位移的跟踪,保证移动机器人和捕获目标在一个平面.给出了对应的驱动电机的数学模型,针对模型中不确定参数的控制,采用优化后的模糊小脑模型的控制器构成一种自学习控制器,并对带有未知负载干扰的失重系统进行实验研究.仿真实验结果表明,该控制器具有较强的鲁棒性以及良好的跟踪特性.The controller design of the ground microgravity testing system was focused on. Kinematics analyses of the collided static target and kinetic target were carried out. In vertical direction, the constant tension method was brought forward to simulate the microgravity of the target object in space. The track of the object＇s deflexion angle and displacement in the polar coordinate was proposed so that the moving robot and target were put in the same plane. The models of electromotor were established, and the optimal FCMAC （fuzzy cerebellar model articulation controller） was adopted in this nonlinear system with load disturbance. Experiments of this testing system show that the FCMAC can improve the dynamic property and its robustness.

关 键 词：空间机器人 微重力 恒张力 模糊小脑模型 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]