| 自由飞行空间机器人基座位姿调整的模糊PD控制 |
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| 引用本文： | 李永明,孙富春,刘华平,王裕基.自由飞行空间机器人基座位姿调整的模糊PD控制[J].宇航学报,2011,32(7). |
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| 作者姓名： | 李永明 孙富春 刘华平 王裕基 |
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| 作者单位： | 1. 太原理工大学自动化系,太原030024;东方电气东方汽轮机有限公司,德阳618000
2. 清华大学计算机科学与技术系,北京,100084 |
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| 基金项目： | 国家杰出青年科学基金，国家自然科学基金 |
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| 摘 要： | 由于自由飞行空间机器人处于微重力的环境,因此其在目标获取的过程中必然会出现因机械臂运动和环境影响而导致基座的复杂运动.本文设计了自由飞行空间机器人位姿调整的模糊PD算法,根据接收到的实时位置信息,空间机器人可以自主地调整基座的姿态和位置来校正位姿误差,保证目标的稳定捕获.利用开发的实验平台与传统的on/off式控制器进行了实验对比,验证了此方法在稳定性、控制精度和燃料消耗上都有较好的表现.
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| 关 键 词： | 自由飞行空间机器人 模糊PD控制 位姿调整 |
Fuzzy PD Control for Base Pose Adjustment of Free-Flying Space Robot |
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| LI Yong-ming,SUN Fu-chun,LIU Hua-ping,WANG Yu-ji.Fuzzy PD Control for Base Pose Adjustment of Free-Flying Space Robot[J].Journal of Astronautics,2011,32(7). |
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| Authors: | LI Yong-ming SUN Fu-chun LIU Hua-ping WANG Yu-ji |
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| Institution: | LI Yong-ming1,2,SUN Fu-chun3,LIU Hua-ping3,WANG Yu-ji3(1.Dept.Automation,Taiyuan University of Technology,Taiyuan 030024,China,2.Dongfang Steam Turbine Co.,Ltd.of DEC,Deyang 618000,3.Dept.Computer Science and Technology,Tsinghua University,Beijing 100084,China) |
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| Abstract: | Due to the space environment with microgravity,there exists complex motion of the base of space robot when it captures other objects.In this paper,we utilize the fuzzy PD controller to implement the pose adjustment.This approach uses the real-time position information to adjust the attitude and the position to keep the pose error to be small and the capture tasks to be successful.The result of experiment verifies that fuzzy PD controller not only has superior control performance than the conventional on/off... |
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| Keywords: | Free flying space robot Fuzzy PD control Pose adjustment |
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