[1]ZHU Qidan,CHEN Liheng,LU Hongqian.Research on the active suspension method of the low-gravity simulation system[J].CAAI Transactions on Intelligent Systems,2015,10(1):43-50.[doi:10.3969/j.issn.1673-4785.201311036]
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Research on the active suspension method of the low-gravity simulation system

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 1 Page number: 43-50 Column: 学术论文—智能系统 Public date: 2015-03-25
Title:
Research on the active suspension method of the low-gravity simulation system
Author(s):
ZHU Qidan1;  CHEN Liheng1;  LU Hongqian2
1. College of Automation, Harbin Engineering University, Harbin 150001, China;
2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China
Keywords:
H∞ controller; robust control; torque motor; low gravity; constant tension; parameter uncertainty; lunar rover; time delay
CLC:
TP273
DOI:
10.3969/j.issn.1673-4785.201311036
Abstract:
In order to make the design of the low gravity simulating system simpler and make the lunar rover get more accurate test results, the method of controlling the force circuit and the location circuit directly is put forward. In the system model, the delay problem and the parameter uncertainty which may affect the robust stability of the system are considered. For addressing the problem of the interference and the uncertainty in the system, H∞ controller is designed. Experiments showed that the controller can effectively suppress the influence of uncertainty and interference and the control precision of the system is guaranteed.
References:
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