哈尔滨工程大学学报
哈爾濱工程大學學報
합이빈공정대학학보
JOURNAL OF HARBIN ENGINEERING UNIVERSITY
2014年
11期
1384-1389
,共6页
朱齐丹%陈力恒%卢鸿谦
硃齊丹%陳力恆%盧鴻謙
주제단%진력항%로홍겸
鲁棒控制%参数不确定%恒张力%低重力模拟系统%月球巡视车%控制策略
魯棒控製%參數不確定%恆張力%低重力模擬繫統%月毬巡視車%控製策略
로봉공제%삼수불학정%항장력%저중력모의계통%월구순시차%공제책략
robust controller%parameter uncertainty%constant tension%low gravity simulation%lunar rover%control strategy
为了使低重力模拟系统满足月球巡视车研发、调试的要求,系统需克服传统方法在竖直方向出现扰动时,抑制效果不好的问题,为此搭建了提供竖直方向拉力的恒张力伺服子系统。在分析关键部件工作特性的基础上,建立了范数有界参数不确定性控制对象模型,分离了标称模型与不确定性参数。根据系统的特点和巡视车测试过程中对于低重力环境的指标需求,针对性的设计了Hゥ控制器。通过仿真检验,控制器抑制了系统参数不确定的影响,避免了电机的机械谐振发生,并且在巡视车竖直方向加速度干扰的情况下,保证系统最大误差仅为3.4 N。
為瞭使低重力模擬繫統滿足月毬巡視車研髮、調試的要求,繫統需剋服傳統方法在豎直方嚮齣現擾動時,抑製效果不好的問題,為此搭建瞭提供豎直方嚮拉力的恆張力伺服子繫統。在分析關鍵部件工作特性的基礎上,建立瞭範數有界參數不確定性控製對象模型,分離瞭標稱模型與不確定性參數。根據繫統的特點和巡視車測試過程中對于低重力環境的指標需求,針對性的設計瞭Hゥ控製器。通過倣真檢驗,控製器抑製瞭繫統參數不確定的影響,避免瞭電機的機械諧振髮生,併且在巡視車豎直方嚮加速度榦擾的情況下,保證繫統最大誤差僅為3.4 N。
위료사저중력모의계통만족월구순시차연발、조시적요구,계통수극복전통방법재수직방향출현우동시,억제효과불호적문제,위차탑건료제공수직방향랍력적항장력사복자계통。재분석관건부건공작특성적기출상,건립료범수유계삼수불학정성공제대상모형,분리료표칭모형여불학정성삼수。근거계통적특점화순시차측시과정중대우저중력배경적지표수구,침대성적설계료Hゥ공제기。통과방진검험,공제기억제료계통삼수불학정적영향,피면료전궤적궤계해진발생,병차재순시차수직방향가속도간우적정황하,보증계통최대오차부위3.4 N。
In order to make the low gravity simulation system meet the research and debugging of a lunar rover, the system needs to overcome the problem that the system cannot work well when the disturbance is in vertical direction. A constant tension servo system for providing vertical tension is set up.The working characteristics of key compo-nents are analyzed and the mathematical model of the key components is established, which includes the norm-bounded parameter uncertainty.The nominal model and the uncertainty parameter were separated.According to the characteristics of the system and the index requirements of the lunar rover testing process for low gravity environ-ment, the Hゥcontroller of the system is designed for this purpose.It is verified that the controller solves the problem of the parameter uncertainty and avoids the mechanical resonance of the motor.The system ensured that the error is less than 3.4 N under the interference of the vertical acceleration of the lunar rover.