Tracking Control Method for Suspended Floater Based on Time Integral of Disturbance Force
ZOU Shengyu1,2, LIU Zhen1, GAO Haibo1, DING Liang1, LI Nan1, DENG Zongquan1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
2. China Aerodynamics Research & Development Center, Mianyang 621000, China
邹胜宇, 刘振, 高海波, 丁亮, 李楠, 邓宗全. 基于干扰力时间积分的悬吊漂浮物随动控制方法[J]. 机器人, 2015, 37(1): 1-8,16.DOI: 10.13973/j.cnki.robot.2015.001.
ZOU Shengyu, LIU Zhen, GAO Haibo, DING Liang, LI Nan, DENG Zongquan. Tracking Control Method for Suspended Floater Based on Time Integral of Disturbance Force. ROBOT, 2015, 37(1): 1-8,16. DOI: 10.13973/j.cnki.robot.2015.001.
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.
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