面向太阳翼对接的调姿机构模糊自适应阻抗控制

Fuzzy Adaptive Impedance Control of Attitude Adjustment Mechanism for Solar Wing Docking

为了实现航天器与太阳翼的柔顺对接,以六自由度并联调姿机构为研究对象,提出了一种基于阻抗控制的接触力控制策略。首先,建立了对接件与待对接件间的阻抗模型,将接触力误差量转换为位置修正量。其次,基于阻抗控制,引入了自适应控制器,解决了阻抗控制目标参数固定的弊端,提高了控制系统对环境的适应性。同时,加入了模糊控制器,实时在线调节阻抗参数。最后,基于Adams和Simulink进行联合仿真,仿真结果验证了所提方法的有效性。

In order to realize the compliant docking of the spacecraft and the solar wing,a contact force control strategy based on impedance control is proposed in this paper,and the six-degree-of-freedom parallel attitude adjustment mechanism is token as research purpose.Firstly,the impedance model between the docking member and the member to be docked is established,and the contact force error quantity is converted into the position correction quantity.Secondly,based on the impedance control,an adaptive controller is introduced,which solves the disadvantage of the fixed target parameter of the impedance control and improves the adaptability of the control system to the environment.At the same time,a fuzzy controller is incorporated to adjust the impedance parameter on-line in real time.Finally,a joint simulation is implemented,which verifies the effectiveness of the proposed method by the experimental results based on combining Adams with Simulink.