跨尺度微重力補償實現的基座控制問題研究

胡云峰

摘 要：該研究圍繞利用地面基座系統實現空間合作目標運動再現過程中的控制問題，開展了運動基座的跨尺度穩定運行及增穩方法、運動基座的新型轉向驅動機構設計、軌跡跟蹤控制及協同控制等方面的研究，試圖通過地面基座系統的穩定分析與控制模擬空間合作目標在微重力環境下的運行特征，為空間運動體的穩定運行及控制提供理論基礎及可靠實驗數據。在2013年度中，在非完整約束下運動體的建模、軌跡跟蹤控制、運動基座的跨尺度穩定運行及增穩方法、運動基座的協同控制策略、運動基座的實驗平臺搭建等方面取得了一定得進展，獲得了一定獎勵，成果得到國內外同行的高度評價，圓滿完成研究計劃，達到了預期目標。

關鍵詞：建模 軌跡跟蹤控制 跨尺度穩定運行及增穩方法 協同控制策略 實驗平臺搭建

Abstract：In this project， the motion reconstruction of the space cooperation vehicles is realized by using a moving base system. The following researches are carried out base on the control problem of the motion reconstruction： searching a method for the cross-scale stable operation and stability augmentation of a moving base， designing a new type of steering and driving mechanism， trajectory tracking control and coordinated control of the moving base. The research also tries to simulate the operating characteristic of the space cooperation vehicles in a microgravity environment through the stability analysis and control of the base system， which provides theory foundation and experiment data for the stability analysis and control of space motion body. In 2013， a great progress has been achieved in the modeling of the non-holonomic system， trajectory tracking control， cross-scale stable operation and stability augmentation， coordinated control， and the construction of the experiment platform of the moving base. Some rewards are also achieved and the achievements are highly evaluated by the domestic and foreign scholars. The expected goals are successfully accomplished. Since the project started， 44 papers are published totally including 26 papers indexed by SCI， and 15 papers indexed by EI. Three patents are applied. In addition， 10 papers are about to be published or have been accepted. and most papers are published in well-known international journal or conference， such as IEEE Transaction on Control Systems Technology， IEEE Transactions on Industrial Electronics， Journal Differential Equations， FUZZY sets and system， Physics Letters A， Journal of Dynamics and Differential Equations， International Journal of Control， Fuzzy sets and systems， AcTa Actomatica Sinica and so on.

Key Words：Modeling； Trajectory tracking control； Stable operation and stability augmentation； Coordinated control strategy； Construction of the experiment platform

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