基于干扰力时间积分的悬吊漂浮物随动控制方法  

Tracking Control Method for Suspended Floater Based on Time Integral of Disturbance Force

作　　者：邹胜宇 刘振[1] 高海波[1] 丁亮[1] 李楠[1] 邓宗全[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]中国空气动力研究与发展中心,四川绵阳621000

出　　处：《机器人》2015年第1期1-8,16,共9页Robot

基　　金：国家自然科学基金资助项目(51275106);高等学校学科创新引智计划资助项目(B07018)

摘　　要：为消除卫星6自由度失重模拟系统对悬吊式漂浮目标体的运动干扰,提出了干扰力的随动控制方法.首先提出随动控制策略:以吊索摆角对时间积分项、比例项和时间微分项分别表征模拟系统对失重对象的干扰冲量、系统位置跟踪误差和系统速度跟踪误差;要求三者趋向于0.然后建立控制模型:建立随动悬吊模块的3维动力学模型;根据线性简化后模型的对称性和解耦性,得出控制用的2维线性模型.构造基于吊索摆角调节的随动控制系统结构,根据经典控制理论设计调节控制器.另外,速率反馈方法被引入到控制模型中,避免在控制带宽内产生谐振现象.仿真结果表明零重力模拟系统能快速地跟上漂浮对象,且此过程中对漂浮对象的干扰冲量为0,验证了本文控制策略与控制器的可行性和有效性.A disturbance force tracking control method is proposed for the satellite weightless simulator of 6 degrees of freedom, to eliminate the interference between the simulator and the suspended floating objects. Firstly, a control strategy is presented, in which the values of the time integral, proportional and time differential terms of the swing angle of the suspension wire are used to characterize the impulse interference from the compensation system, the position tracking error and the velocity tracking error respectively, and the three values should converge to zero. The control models are then established, including a 3-dimensional dynamic model of the suspension module and a 2-dimensional linear model for control, and the latter is obtained according to the symmetry and decoupling characteristics of the simplified 3-dimensional model. The structure of tracking control system is constructed by regulating the swing angle of the suspension wire, and a regulation controller based on classic control theory is designed. In addition, a velocity feedback is introduced into the control model to avoid resonance in the control bandwidth. The simulation results indicate that the zero-gravity simulation system is capable of tracking a floating object rapidly, and during that process, the simulator imposes zero impulse interference on the floating object. The feasibility and effectiveness of the control strategy and the controller are verified.

关 键 词：零重力模拟 悬吊法 动力学 随动控制 仿真 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]