摘要
针对太阳能帆板地面展开实验中对气浮重力补偿装置的控制问题,当帆板在大范围内做展开运动时,普通的模糊PID由于固定论域和部分模糊规则的不完善导致在实际控制中出现响应速度变慢,抗干扰性和自适应性变差的现象,结合变论域控制思想,提出一种适用于气浮重力补偿装置的变论域模糊PID控制策略。通过分析气浮重力补偿装置的气膜振动工况和地面干扰工况,建立了帆板展开过程的动力学方程,设计了一种变论域模糊PID控制器,在Matlab/Simulink环境下搭建仿真模型并搭建帆板展开气浮实验台进行实验验证,实验结果表明设计的控制策略能将支撑点位置误差控制在0.6%以内,相比较于普通模糊PID控制,误差率减小了50%,控制精度高,抗干扰性强,取得了较好的控制效果。
Aiming at the control problem of the air flotation gravity compensation device in the ground deployment experiment of solar panels,when the panels are deployed in a large range,the ordinary fuzzy PID is not perfect in the actual control due to the imperfect fixed universe and some fuzzy rules.The phenomenon of slow response speed and poor anti-interference capability and self-adaptability occurs.Combining with the idea of variable universe control,a variable universe fuzzy PID control strategy is proposed for the air-floating gravity compensation device.By analyzing the air-film vibration conditions and ground disturbance conditions of the air-floating gravity compensation device,the dynamic equation of the panel deployment process is established,and a variable universe fuzzy PID controller is designed.The simulation model is built in Matlab/Simulink environment and the air flotation test-bed is built for experimental verification.The experimental results show that the designed control strategy can control the position error of the support point within 0.6%.Compared with the ordinary fuzzy PID control,the error rate is reduced by 50%,the control precision is high,the anti-interference capability is strong,and a good control effect is achieved.
作者
周鑫
赵勇
ZHOU Xin;ZHAO Yong(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第3期45-51,57,共8页
Machine Design And Research
基金
国家自然科学基金(51975349)
上海航天先进技术联合研究基金(USCAST2019-20)资助项目。
关键词
重力补偿
模糊控制
变论域
位置误差
gravity compensation
fuzzy control
variable universe
position error
