Design of the Controller for a Ground Simulation System of Spatial Microgravity Environment
CHEN San-feng1,2, MEI Tao1, ZHANG Tao1, WANG Xiao-hua1
1. Center for Biomimetic Sensing and Control Research, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China; 2. Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei 230026, China
陈三风, 梅涛, 张涛, 汪小华. 空间微重力环境地面模拟系统的控制器设计[J]. 机器人, 2008, 30(3): 201-204..
CHEN San-feng, MEI Tao, ZHANG Tao, WANG Xiao-hua. Design of the Controller for a Ground Simulation System of Spatial Microgravity Environment. ROBOT, 2008, 30(3): 201-204..
Abstract：A novel system is proposed to simulate the spatial microgravity environment for small and mini experimental objects.The compound scheme adopts horizontal air-bearing and pneumatic cylinder vertical suspending to simulate spatial microgravity environment.The vertical microgravity status is simulated with the scheme of constant tensility.The compound control scheme adopts radial basis function neural network(RBFNN) and sliding model variable structure controller,where RBFNN is employed to approximate and compensate uncertainties of the system and works as a feed-forward compensator to make the tracking error converge fast.The sliding model variable structure control is employed to obtain system robustness by reducing the influence of RBFNN approximation error and random disturbance.The experimental results show that the control system is effective,and it produces good dynamic performance,high robustness and good self-adaptive capacity.
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