一类月面钻进采样机构的鲁棒控制

在月面复杂环境下采样机构模型会发生摄动,并会受到系统扰动影响,采样控制器的鲁棒性对顺利完成采样任务具有重要意义.针对回转与进尺复合式月面自动钻进采样机构建立名义控制模型,分析月面工作过程中的模型摄动、系统扰动下的控制系统模型,利用线性矩阵不等式方法进行状态反馈鲁棒控制律设计.仿真结果表明:在有界模型摄动、有界随机系统扰动情况下,系统具有鲁棒性,并对扰动具有抑制能力.

Robust Control for a Class of Lunar Drill Sampling Mechanism

The model perturbation and system disturbance of a drill mechanism should be considered in the complex lunar environment. Robustness of a sampling controller plays a critical role during the sample process. The nominal control model is established for a class of rotation and pulling compound mechanism,and the model perturbation and system disturbance to control model are analyzed. The approach of linear matrix inequality is applied to design the robust state feedback controller. Simulation results show that the controller possesses robustness and disturbance rejection ability against the bounded model perturbation and random system disturbance.