[1]朱齐丹,陈力恒,卢鸿谦.低重力模拟系统主动悬吊方式控制研究[J].智能系统学报,2015,10(1):43-50.[doi:10.3969/j.issn.1673-4785.201311036]
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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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]
低重力模拟系统主动悬吊方式控制研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第1期
页码:
43-50
栏目:
学术论文—智能系统
出版日期:
2015-03-25
- Title:
- Research on the active suspension method of the low-gravity simulation system
- Keywords:
- H∞ controller; robust control; torque motor; low gravity; constant tension; parameter uncertainty; lunar rover; time delay
- 分类号:
- TP273
- 文献标志码:
- A
- 摘要:
- 为了简化低重力模拟系统设计难度,方便巡视车得到更准确的测试结果,在主动悬吊方式下提出了直接对力回路进行控制并辅以位置控制的方案。在建立系统模型过程中考虑了影响系统鲁棒稳定性的参数不确定与可转化为乘性不确定性的延时问题,并实现了不确定性的分离;根据系统受到巡视车带来的干扰、减速器摩擦力矩与本身不确定性等问题,针对性地设计了H∞控制器对系统综合,通过实验检验,控制器有效抑制了不确定性与干扰的影响,系统的控制精度得到了保证。
- 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.
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备注/Memo
收稿日期:2013-11-22;改回日期:。
基金项目:国家自然科学基金委创新研究群体科学基金(61021002).
作者简介:朱齐丹,男,1963年生,教授,博士生导师,博士,中国自动化学会应用委员会委员、黑龙江省自动化学会理事、国家绕月探测科学应用专家委员会专家、《应用科技》杂志主编,主要研究方向为机器人与智能控制、机器视觉检测技术、先进控制理论及应用和复杂系统分析与决策等。作为项目负责人承担科研项目近30项。发表学术论文百余篇,其中被SCI、EI检索60余篇,出版译著1部,获得发明专利6项,软件著作权5项;陈力恒,男,1989年生,硕士研究生,主要研究方向为先进的控制理论及应用;卢鸿谦,男,1975年生,副教授,主要研究方向为复杂系统控制及其运动控制。
通讯作者:陈力恒.Email:clh114131@gmail.com
更新日期/Last Update:
2015-06-16