对接半物理仿真系统中的自适应柔顺力控制研究  

Research on Adaptive Compliant Force Control for HIL Docking Simulation System

作　　者：黄其涛[1] 何景峰[1] 韩俊伟[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《系统仿真学报》2009年第19期6077-6080,6085,共5页Journal of System Simulation

摘　　要：为实现空间航天器对接过程中的强制校正和拉近阶段过程的半物理仿真,提出了一种六自由度并联运动平台的基于位置闭环的力控制方法。针对强制校正和拉近过程中两飞行器之间连接刚度大范围变化,设计自适应力控制器解决了刚度参数时变对系统性能的影响。试验结果表明自适应柔顺力控制可以实现强制校正和拉近阶段过程的有效模拟。A force control strategy based on the inner loop position control of 6-dof parallel platform was proposed in order to realize the pushing and pulling procedure of forcible aligmnent in hardware-in-the-loop space docking simulation. Considering the variety of the connection stiffness between two spacecraft, adaptive force controller was designed to resolve the stability problem. The experiment results prove that this strategy can effectively simulate the pushing and pulling procedure of forcible alignment.

关 键 词：力控制 自适应控制 六自由度并联平台 对接仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]