跨尺度微重力补偿实现的基座控制问题研究

胡云峰

摘 要：该研究围绕利用地面基座系统实现空间合作目标运动再现过程中的控制问题，开展了运动基座的跨尺度稳定运行及增稳方法、运动基座的新型转向驱动机构设计、轨迹跟踪控制及协同控制等方面的研究，试图通过地面基座系统的稳定分析与控制模拟空间合作目标在微重力环境下的运行特征，为空间运动体的稳定运行及控制提供理论基础及可靠实验数据。在2013年度中，在非完整约束下运动体的建模、轨迹跟踪控制、运动基座的跨尺度稳定运行及增稳方法、运动基座的协同控制策略、运动基座的实验平台搭建等方面取得了一定得进展，获得了一定奖励，成果得到国内外同行的高度评价，圆满完成研究计划，达到了预期目标。

关键词：建模 轨迹跟踪控制 跨尺度稳定运行及增稳方法 协同控制策略 实验平台搭建

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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