摘要
针对做复杂运动的空间机械臂地面微重力试验环境模拟困难的问题,设计了一种基于滑模变结构控制的空间机械臂地面微重力模拟装置。该系统采用剪式升降机构、滚珠丝杠、压力传感器、伺服电机和气体轴承的组合方式来实现三维空间随动运动,通过支持力抵消空间机械臂重力来实现无重力下的性能测试。利用接触力模型建立系统动力学方程,考虑到空间机械臂非线性运动及模拟装置自身摩擦干扰,设计基于状态反馈的滑模变结构控制器,保证了控制系统鲁棒性。仿真表明,所设计的控制装置能够达到较高精度且使用方便,对于空间机械臂三维空间微重力模拟具有重要的应用价值。
A space microgravity ground simulation device based on sliding mode is designed to solve the difficult problem of the ground microgravity test environment of the space manipulator . The system adopts the scissor lift drive mechanism, screw guide, servo drive and gas bearing combination to achieve three-dimensional servo motor , so as to meet the space microgravity simulation of complex movement . First contact force model is used to establish the system dynamic equation, considering the nonlinear motion space manipulator , and analog device itself friction disturbance, the sliding mode variable structure control is used to compensate the influence of nonlinear factors, guarantee robustness control system. The simulation shows that the designed control device can achieve high precision and easy to use, and has important application value for the three-dimensional micro-gravity simulation of space manipulator.
作者
姚欣
张文辉
蒋黎红
王超
戚焜
YAO Xin;ZHANG Wenhui;JIANG Lihong;WANG Cao;QI Kun(Faculty of Engineering,Lishui University,Lishui 323000,Zhejian)
出处
《丽水学院学报》
2018年第5期60-63,共4页
Journal of Lishui University
基金
国家自然科学基金资助项目"基于本体的复杂产品功能语义表示与智能分解研究"(61772247)
浙江省教育厅科研项目"面向龙泉青瓷的视觉上釉机械手系统研究"(Y201636936)
丽水市科技计划项目"工业机器人基于视觉导引的运动规划与控制系统研究"(2015RC04)
关键词
空间机械臂
三维微重力
地面模拟系统
滑模变结构控制
Space manipulator
Three-dimensional microgravity
Ground simulation system
Sliding modevariable structure control
