柔性月壤取样器振动频率的窄带扫频模糊自适应控制  

Vibration frequency control of the flexible lunar regolith sampler using narrowband sweep frequency-based fuzzy adaptive strategy

作　　者：卢伟[1] 凌云[2] 宋爱国[2] 丁为民[1] 曾洪[2] 谷士鹏[2] 

机构地区：[1]南京农业大学工学院/江苏省现代设施农业技术与装备工程实验室,江苏南京210031 [2]东南大学仪器科学与工程学院/江苏省远程测控重点实验室,江苏南京210096

出　　处：《南京农业大学学报》2013年第4期133-140,共8页Journal of Nanjing Agricultural University

基　　金：教育部国防基础研究资助项目(GF708006);教育部重大创新工程培育资金项目(708045)

摘　　要：针对目前月球车车载取样器体积、质量和功耗都较大的问题,设计了新颖的小型柔性月壤取样器,建立了"取样头-月壤"共振破碎系统并进行了非线性动力学分析,得到取样器在共振状态时最利于钻进的结论。针对取样头钻进时动力学模型是时变、非线性系统,提出并通过仿真验证了基于滑动最小二乘法进行共振频率模型参数动态辨识的窄带扫频模糊自适应控制系统的有效性。模拟月壤中的取样试验结果表明,该算法与无振动相比,钻进深度、钻进效率及抛丢样品效率分别提高55.7%、40%和60.4%。Aiming at solving the problem of big volume,large weight and high power consumption of the sampler that is fixed on the lunar rover nowadays,this paper presents the design and implementation of a novel flexible mini lunar regolith sampler.Based on the established nonlinear dynamics resonance broken system of the'sampling head-lunar regolith',it has been found that the most suitable drilling condition can be achieved when the sampling head is in resonance stage.Considering the nonlinear time-varying characteristics of the sampler dynamics in drilling,we present a narrowband sweep frequency-based fuzzy adaptive control strategy for adjusting the flexible sampler′s resonant frequency.The simulation results have verified the effectiveness of the control strategy.The experimental results show that the presented control strategy can improve the drilling depth,drilling efficiency and the cast throw efficiency by 55.7%,40% and 60.4% in the lunar soil stimulant,respectively.

关 键 词：柔性机器人 月球探测 取样器 动力学 自适应控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]