摘要
空间对接广泛采用Stewart并联机构。用液压Stewart平台模拟对接机构,以研究对接过程的控制。为了获得更好的性能,要求各个液压缸的动态特性以及它们本身的正反向特性相同,对可变负载有鲁棒性,系统过阻尼,调节时间要尽量短。选用模型参考自适应控制(MRAC)很好的解决了这些问题。采用Narendra方案,利用非对称液压缸正反向模型仿真,初步确定控制参数。采用遗传算法对自适应控制器参数进行优化。实验结果表明,控制效果满足要求。
Stewart mechanism is widely used for space docking. To study the docking process, hydraulic Stewart platform was used to simulate spaceship docking mechanism. To obtain better performance, dynamic characteristics of 6 cylinders, forward and backward characteristics of each cylinder are required to be same, robustness against variable load, overdamped step response, short settling time are also needed. Model reference adaptive control （MRAC） was used to solve these questions. After modelization of asymmetric cylinder, parameters of Narendra＇s scheme were selected by simulation and then optimized by Generic Algorithm. Experimental results show the performance of MRAC is satisfying.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2007年第2期457-460,492,共5页
Journal of Astronautics
基金
国防重点学科建设项目资助(BHBKGW1-2)
