【摘要】 以空间绳网机器人捕获目标物后形成的绳系组合体为研究对象,研究实现组合体的整定及拖曳等操作过程的控制策略,建立了双质点绳系组合体张力控制模型,提出了一种综合考虑整定过程时间和控制能耗的最优控制策略,利用研制的张力控制机构和地面气浮实验系统,进行了恒张力及周期性动态张力跟踪实验,实验表明张力控制装置对张力指令有很好的跟踪性能,同时也验证了实现最优控制策略所需的技术。更多还原

【Abstract】 This paper studies formation of tethered combination of space tethered-net robot capturing target. A control strategy of achieving the setting and towing operation process of combination is studied. Double particle tethered combination tension control model is established; and the optimum control strategy considering setting time and energy consumption is researched and developed. An experiment test of constant step tension and periodic dynamic tension tracking is conducted on ground-based flotation platform with tension control mechanism and simulator. The experiment results show the designed controller can track the tension control instruction effectively and verify the technology to realize the optimal control.更多还原