悬吊式重力卸荷系统的主动式缓冲控制  

Active damping control method for suspended gravity offloading system

作　　者：晏慧星 卢鸿谦[1] 尹航[1] 黄显林[1] 陈泰年 YAN Huixing;LU Hongqian;YIN Hang;HUANG Xianlin;CHENG Tainian(Harbin Institute of Technology,Control Theory and Guidance Research Center,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学控制理论与制导研究中心,黑龙江哈尔滨150001

出　　处：《光学精密工程》2024年第3期381-391,共11页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.62203300)。

摘　　要：针对索驱悬吊式重力卸荷系统被动缓冲器带来的欠驱动问题,提出了基于气动人工肌肉(Pneumatic Artificial Muscle,PAM)主动式缓冲器控制方法。首先,分析用于地面微/低重力模拟的悬吊式重力卸荷系统,为了克服PAM高度非线性特性,提出基于块结构的非线性神经网络建模方法,其次分析吊索与航天器相互作用过程中挠性引起的力扰动,最后采用非线性模型预测跟踪控制。相比传统PID控制方法,该方法具有参数调节简单,实时跟随性能好,以及对卸荷系统目标惯性参数的摄动具有控制性能不变性等优势。实验结果表明,设置不同扰动情况跟随力误差都能保证在3%以内,实验证明了基于PAM主动缓冲器的可行性,所提出的控制方法能够在挠性不确定性的情况下实现力跟随控制。To address the issue of underactuation caused by passive buffers in a tether-driven microgravity simulation system,an active buffer control method based on Pneumatic Artificial Muscles(PAM)was proposed.Firstly,the tether-driven microgravity simulation system was analyzed for ground-based micro/low-gravity simulation.A block-structured nonlinear neural network modeling method to effectively over⁃come the highly nonlinear nature of PAM was introduced.Subsequently,the disturbances caused by the flexible interaction between the tether and the spacecraft was analyzed.Finally,a nonlinear model predic⁃tive tracking control approach was employed.Compared to traditional PID control methods,the proposed was introduced approach offers advantages such as simple parameter adjustment,excellent real-time track⁃ing performance,and robust control performance in the presence of perturbations to the target inertia pa⁃rameters of the unloading system.Experimental results demonstrate that the proposed method ensures tracking force error within 3%under various disturbances.The feasibility of the active buffer based on PAMs is confirmed experimentally,and the proposed control method achieves force-tracking control in the presence of flexural uncertainty.

关 键 词：悬吊式重力卸荷系统 气动人工肌肉 主动缓冲器 非线性模型预测跟踪控制 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程] TP273[自动化与计算机技术—检测技术与自动化装置]