摘要
针对空间机械臂动力学建模和轨迹跟踪控制的复杂性,详细介绍了在虚拟样机技术软件ADAMS里,建立漂浮基空间机械臂的动力学模型、轨迹跟踪模糊PD控制策略及其ADAMS和Mat-lab的联合仿真.在成功建模的基础上,使用模糊PD控制策略,非常好地完成了漂浮基空间机械臂的轨迹跟踪控制任务.
Based on complexities of the dynamic model and trajactory tracking control of free - floating space manipulator, the dynamic model of free-floating space manipulator based on ADAMS, fuzzy control system of trajectory tracking and united simulation combined with ADAMS and Matlab are expressed. Based on the correct dynamic model, the task of trajectory tracking of free-floating space manipulator is finished well based on fuzzy PD.
出处
《机械与电子》
2007年第11期31-34,共4页
Machinery & Electronics
关键词
空间机械臂
动力学与控制
虚拟样机
技术
联合仿真
space manipulator
dynamics and control
virtual prototyping technology
united simulation
