【摘要】 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.更多还原

【Abstract】 A suspension system for studying the characteristics of space robots working under microgravity condition and its gravity compensation are introduced. After modeling the dynamic characteristics of suspension module,the optimal control parameters are solved by numerical computation and simulation based on nonlinear programming. The result is verified through orthogonal tests for optimization aimed at precision and time optimization control. As a result of this study,an optimal precision tracking control scheme is gained for space robot test system to simulate the microgravity environment.更多还原