【摘要】 在地面进行空间对接动力学的模拟实验是实现空间对接不可或缺的过程。对Stewart平台进行柔顺力控制是模拟空间对接过程强制校正阶段的要求。提出Stewart平台的柔顺力控制策略,并进行稳定性分析和力稳态值分析,给出稳定条件和控制效果。仿真结果表明了其有效性。更多还原

【Abstract】 It is an indispensable process to simulate space docking dynamics on the ground.Compliant force control of Stewart platform is needed in the pull tightly phase of forcible alignment process.Complaint force control strategy is put forward,stability and force stable valus is analysised,and stability conditions are deduced,control effect is given.Simulation results shows that they are effective.更多还原