Active damping control method for suspended gravity offloading system

被引：0
|
作者：
Yan H. [1 ]
Lu H. [1 ]
Yin H. [1 ]
Huang X. [1 ]
Cheng T. [1 ]
机构：
[1] Harbin Institute of Technology, Control Theory and Guidance Research Center, Harbin
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2024年 / 32卷 / 03期
关键词：
active buffer; nonlinear model predictive tracking control; pneumatic artificial muscle; suspended gravity offloading system;
D O I：
10.37188/OPE.20243203.0381
中图分类号：
学科分类号：
摘要：
To address the issue of underactuation caused by passive buffers in a tether-driven microgravity simulation system，an active buffer control method based on Pneumatic Artificial Muscles（PAM）was proposed. Firstly，the tether-driven microgravity simulation system was analyzed for ground-based micro/ low-gravity simulation. A block-structured nonlinear neural network modeling method to effectively over-come the highly nonlinear nature of PAM was introduced. Subsequently，the disturbances caused by the flexible interaction between the tether and the spacecraft was analyzed. Finally，a nonlinear model predic-tive tracking control approach was employed. Compared to traditional PID control methods，the proposed was introduced approach offers advantages such as simple parameter adjustment，excellent real-time track-ing performance，and robust control performance in the presence of perturbations to the target inertia pa-rameters of the unloading system. Experimental results demonstrate that the proposed method ensures tracking force error within 3% under various disturbances. The feasibility of the active buffer based on PAMs is confirmed experimentally，and the proposed control method achieves force-tracking control in the presence of flexural uncertainty. © 2024 Chinese Academy of Sciences. All rights reserved.
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页码：381 / 391
页数：10
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