基于FCMAC的空间零重力环境 地面模拟装置控制

文章提出了一种新型的空间零重力地面模拟系统，该系统采用机械传动、电机驱动和气悬浮组合的方式来实现空间零重力环境的模拟，即:水平方向采用气悬浮方式，竖直方向采用永磁同步电机（PMSM）作为其执行器件，经减速器后利用滚珠丝杠及带直线轴承的导向杆的传动装置，通过力反馈控制方式来实时抵消目标重力。考虑到永磁同步电机具有非线性、强耦合的特点以及机械摩擦等不确定性及外界干扰，为保证实时性，内环采用动态性较好的滑模变结构控制器，外环采用学习速度快的模糊小脑模型关联控制（FCMAC）神经网络的控制策略来自适应学习并补偿各种不确定及非线性影响。仿真结果表明:所设计的试验系统具有整体重量轻、使用方便及零重力环境模拟精度高等优点，适用于复杂运动的大中型飞行器三维空间零重力地面模拟试验。

Control of spatial microgravity environment ground simulation system based on FCMAC

A new ground simulation systems is proposed to simulate the spatial microgravity environment. The system combines the machine transmission, motor driving in the upright direction and air-bearing in the level plane to simulate three-dimension spatial microgravity, in which the force of the executive device is reduced and transmitted by ball screws and guide poles, and the target gravity is counteracted by the force feedback control. Considering the friction and non-linearity of Permanent Magnet Synchronous Motor (PMSM) together with some outside disturbances, the inside loop uses a sliding model controller, and the outside loop uses a fuzzy CMAC neural network with rapid learning ability to compensate for the disturbance and uncertainty to assure the real time operation. The simulation result shows that the system is easily operative with light weight and high precision in the three-dimension spatial microgravity simulation.