设计和动态控制:一个自由飞行的太空机器人,灵感来自水上步行者
Huayang Sai1, Chengkai Xia2,3, Zhenbang Xu2
1College of Engineering, Peking University, Beijing 100871, China.
Biomimetics (Basel, Switzerland)
|September 27, 2023
概括
一种新的自由飞行太空机器人 (FFSR) 已经开发出来,用于模拟大型太空望远镜组装. 它的自适应模糊滑动模式控制确保了高轨迹跟踪精度,为太空技术验证提供了一个关键的平台.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 航空航天工程 航空航天工程
- 控制系统 控制系统
背景情况:
- 在轨道上组装大型太空望远镜面临重大挑战.
- 模拟机器人系统的微重力环境是复杂的.
- 现有的太空机器人的控制方法往往会受到聊和缺乏适应性的困扰.
研究的目的:
- 设计和验证一个自由飞行空间机器人 (FFSR),用于模拟在轨道上的组装任务.
- 开发和实施一个先进的控制策略,以精确跟踪FFSR的轨迹.
- 建立一个地面实验平台,用于测试太空望远镜组装技术.
主要方法:
- 开发了一个FFSR系统,使用平面空气轴承进行空气浮动地面模拟.
- 已经建立了FFSR的动力学和动力学模型.
- 提出了一种新的自适应边界层模糊滑动模式控制 (ABLFSMC) 方法,采用模糊逻辑来减轻聊天.
- 利用利亚普诺夫稳定理论来保证控制器的稳定性.
主要成果:
- FFSR成功模拟了在减重环境中的自由飞行运动.
- 在模拟中,ABLFSMC方法证明了高轨迹跟踪精度.
- 实验结果验证了FFSR的表现和拟议的控制战略的有效性.
- 模糊逻辑组件有效地减少了滑动模式控制中固有的聊天效应.
结论:
- 开发的FFSR为验证轨道组装技术提供了一个有价值的实验平台.
- ABLFSMC方法为控制自由飞行的太空机器人提供了强大而准确的解决方案.
- 这项研究有助于提高未来大型太空望远镜建设的能力.
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