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介绍了一种用于研究空间机器人微重力条件下的工作特性的悬挂系统——悬挂式重力补偿系统,并给出了悬挂模块的动力学模型.通过数值求解与仿真,运用非线性规化求出了一定条件下的最优控制参数;用正交试验寻优、基于时间最优控制的试凑法证明了优化模型的解正确性.该研究为空间机器人地面试验系统模拟微重力环境下精密跟踪运动提供了最优控制方法.
A suspension system for suspending the gravity compensation system under the micro-gravity conditions of space robot is introduced, and the dynamic model of the suspension module is given. Through numerical simulation and numerical simulation, The optimal control parameters under certain conditions are obtained.The optimization of the optimization model is proved by the orthogonal test and the trial-and-error method based on the optimal control of time.The precision of the model is verified by the ground robotic ground test system Tracking motion provides the best control method.