舱外机动装置控制技术的实时仿真研究

Real Time Simulation Research of Extra-Vehicular Activity Control Technique

舱外载人机动装置的姿态控制为非线性时变 ,并且带有不确定参数的系统控制问题 ,传统的控制理论难以处理该问题 .为了验证自适应控制方法对该问题的处理以及该方法在工程上的实用性 ,因此在dSPACE平台上建立了半物理仿真系统 ,该系统真实模拟了现实环境并且仿真出真实可靠的结果 。

The attitude control of extra-vehicular activity (EVA) is a nonlinear and time variant control system with the uncertain parameters. It is difficult for general control method to deal with attitude control of EVA. For validating the disposal of adaptive control method for the problem and engineering practicability of this method, a half-physical simulated system based on DSPACE environment was established. This system could simulate reality environment and gave out reliable result. Consequently it show that adaptive control method is of good control quality for EVA.