【作者】 张智；

【导师】 刘宏；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2011， 硕士

【摘要】 小行星/彗星探测是当代深空探测的前沿课题之一,对研究生命起源、太空资源开发、太阳系起源及演变都有重要的意义,因此加快小行星/彗星探测技术的发展显得尤为重要。作为国家“863”计划深空探测与空间实验技术领域重大项目子项目“小行星着陆器附着机构原理样机”的重要组成部分,本文研制了小行星/彗星着陆器附着机构的控制系统,检验了着陆器附着机构的相关性能指标。本文首先根据系统性能指标与实验条件要求,完成了电气系统的设计、加工与调试,主要包括万向调节装置控制系统和锚定位装置控制系统。为研究万向调节装置位置控制的控制方法,建立了运动学模型和动力学模型。将基于复合反馈的PD控制器应用到万向调节装置位置控制系统中,证明了控制率的稳定性,并与传统的PID控制进行了比较,进行了实验验证。针对PID控制参数难以整定的问题,研究了基于智能控制的PID控制参数自整定方法。主要对模糊PID控制、神经网络PID控制通过Matlab/Simulink进行了仿真研究,其中对神经网络PID控制又比较了BP神经网络、小波神经网络和RBF神经网络的控制效果。研究表明,基于RBF神经网络的PID控制器的综合控制性能最好。最后,对着陆器附着机构控制系统进行了综合实验。在二维微重力实验平台上验证了锚定位装置的各项功能及性能指标;对万向调节装置的基于复合反馈的PD控制方法进行实验验证,证明该控制方法可以很好的满足控制要求。更多还原

【Abstract】 Asteroids/Comet exploration is one of the cutting-edge topics on deep space exploration today. It is important to develop the technology of asteroids/comet exploration faster, because exploration of asteroids provides clues to study the original life on earth, the formation of the solar system and the planetary evolution. As an important part of“Adhesion Mechanism Prototype of Asteroids Lander”of National 863 Project in the field of deep space exploration and space experiment technology, the control system for adhesion mechanism of an asteroids/comet lander is developed, which tests relevant performance index of the adhesion mechanism of the lander.First of all, the electric system is developed based on the performance index and the experiment condition mainly including control module of the anchor aiming mechanism and the cardan mechanism.In order to do research on the position control method of the cardan mechanism, the model of kinematics and dynamics is studied and a PD controller based on composite feedback is applied to the position control system, the stability of which is proved and the result of the experiments is compared with traditional PID controller. In order to solve the problem that the parameters of PID controller is difficult to adjust, control method of adjusting the parameters of PID controller automatically is researched based on intelligent control, mainly including fuzzy PID control, Neural Network PID control through Matlab/Simulink. The control effect of BPNN, Wave-NN, RBFNN is detailed compared and PID controller based on RBFNN is proved to be the best.Finally, experiments on the control system for adhesion mechanism of asteroids/comet lander are carried out. The function and the performance index of anchor aiming system is tested on 2-DOF gravity experiments platform and the PD controller based on composite feedback for the cardan mechanism is also validated, which is proved to satisfy the demands of the control system.更多还原