摘要
针对目前做复杂运动的大中型飞行器地面微重力环境难以实现的问题,设计了新颖的模拟装置,并提出了基于反演的自适应补偿控制方法.该装置采用剪式升降系统、轴承导向系统、电机驱动系统、气悬浮系统等组合的方式来实现复杂运动的三维微重力模拟.该系统采用气悬浮方法来实现二维平面随动,采用力反馈的主动控制方法来补偿重力,实现竖直方向升降.在考虑系统精确模型难以获得及存在外界干扰的情况下,提出了基于后推的自适应控制方法保证了系统的鲁棒性,设计了自适应控制律,实现了对系统不确定模型的实时估计.试验表明,在目标重力突变的情况下,控制系统依然能达到较高模拟精度,对于复杂空间运动的飞行器微重力模拟具有重要工程价值.
Difficult problems of simulation the space microgravity environment for big and middle experimental objects with complex move are considered.A novel microgravity ground simulation system is presented by the paper.The equipment combine scissors lifting,bearing guide,motor drive and air-bearing to realize to realize 3-D motion function.Dynamics model is developed by this paper.Considering the system modeling error,adaptive controller is designed to identify and compensate unknown uncertainty of system.Complicated system is decomposed into several simple subsystems,and then control law is designed.Controller based on the backstepping theory ensures control system stability and robustness.Experiment results show that three dimensional microgravity simulation systems can achieve good accuracy and has high value for engineering application.
出处
《中国工程机械学报》
北大核心
2017年第4期305-309,317,共6页
Chinese Journal of Construction Machinery
基金
浙江省教育厅基金资助项目(Y201534043)
浙江省科技厅基金资助项目(2015C31160)
丽水市高层次人才资助基金资助项目(2015RC04)
丽水市科技计划基金资助项目(2015KCPT03)
关键词
三维微重力
地面模拟系统
反演设计
自适应控制
three-dimensional microgravity
ground simulation system
backstepping design
adaptivecontrol
