| 引用本文: | 齐乃明,张文辉,马静,霍明英.空间微重力地面模拟试验系统智能控制器设计[J].哈尔滨工业大学学报,2012,44(1):17.DOI:10.11918/j.issn.0367-6234.2012.01.004 |
| QI Nai-ming,ZHANG Wen-hui,MA Jing,HUO Ming-ying.Intelligent controller design of ground simulation test system for three-dimensional spatial microgravity environment[J].Journal of Harbin Institute of Technology,2012,44(1):17.DOI:10.11918/j.issn.0367-6234.2012.01.004 |
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| 摘要: |
| 为解决做复杂运动的大中型空间飞行器地面微重力模拟试验问题,提出一种新的三维空间微重力地面模拟系统.该系统采用机械传动、电机驱动和气悬浮的组合方式来实现三维空间复杂运动微重力环境的模拟,通过力反馈控制方式来实时抵消目标的重力.考虑到非线性驱动影响及机械传动部件的摩擦干扰,采用神经网络智能控制策略来自适应学习并补偿不确定影响.实验结果表明,所设计的试验系统具有重量轻、使用方便及模拟精度高等优点. |
| 关键词: 三维微重力 地面模拟系统 神经网络 滑膜控制 |
| DOI：10.11918/j.issn.0367-6234.2012.01.004 |
| 分类号:V416.8 |
| 基金项目:中国航天科技集团创新基金资助项目(CAST09C01) |
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| Intelligent controller design of ground simulation test system for three-dimensional spatial microgravity environment |
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QI Nai-ming1, ZHANG Wen-hui2, MA Jing3, HUO Ming-ying1
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1.School of Aerospace,Harbin Institute of Technology,150001 Harbin,China;2.School of Aerospace,Harbin Institute of Technology,150002 Harbin,China;3.Dept.of Engineering,Northeast Agricultural University,150001 Harbin,China)
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| Abstract: |
| A novel system is proposed to simulate the spatial microgravity environment for big and middle experimental objects with complex move.The equipments combine machine transmission、motor drive and air-bearing to realize three-dimension spatial microgravity simulation.Friction non-linearity of machine system and outside disturbance are considered.Sliding model controller based on neural network is employed to reduce disturbance and uncertainty.The experimental result shows that the test equipment is light weight,convenience and precision,it compensates non-linearity infection for grasping of robotic manipulator,and it has important engineering value to three-dimension spatial microgravity simulation. |
| Key words: three-dimensional microgravity ground simulation system neural network sliding model control |
