Design of the Controller for a Ground Simulation System of Spatial Microgravity Environment
-
摘要: 针对小型和迷你型试验目标，提出一种新的空间微重力环境模拟系统．系统采用平面气浮和气缸垂直悬浮组合方案来模拟空间微重力环境，并采用恒张力控制思想来模拟垂直地面方向上的微重力状态．采用RBF神经网络控制和滑模变结构控制复合控制方案，其中RBF神经网络用于逼近和补偿系统的不确定信息，并作为前馈补偿使跟踪误差快速收敛；通过滑模变结构控制消除RBF神经网络的逼近误差和不定随机干扰的影响，保证系统的鲁棒性．实验研究结果表明，该控制方案是有效的，系统具有较好的动态响应能力、鲁棒性和自适应能力．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.
-
-
[1] 杨锋.袁修干.航天微重力环境的地面模拟方法[A].2002年第七届全国环境控制学术交流会论文集[C].北京:中国航空学会.2002.113-117. [2] Rycroft M,Houston A,Barker A,et al.Training astronauts using three-dimensional visualizations of the international space station[J].Acta Astronautica,1999,44(5-6):303-306. 
[3] 吴海,郝庆洲,袁龙根,等.微重力燃烧实验平台NMLC落塔自由落体实验装置的下落加速度特性[A].中国工程热物理学会第十届年会论文集(燃烧学)[C].北京:中国工程热物理学会,2001.705-709. [4] White G C.Xu Y S.Active vertical-direction gravity compensation system[J].IEEE Transactions on Instrumentation and Measurement.1994.43(6):786-792. [5] Dickson W C,Cannon R H Jr.Experimental results of two free-flying robots capturing and manipulating a free-flying object[A].Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway.NJ.USA:IEEE.1995.51-58. [6] Pandian S R,Hayakawa Y.Kanazawa Y.el al.Practical design of 8 sliding mode controller for pneumatic actuators[J].Journal of Dynamic Systems,Measurement,and Control,1997,199(4):666-674.
计量
- 文章访问数: 40
- HTML全文浏览量: 1532
- PDF下载量: 547
下载:
