Research on the tracing accurate of force based on fuzzy-pi control for a high-speed landing system
Research on the tracing accurate of force based on fuzzy-pi control for a high-speed landing system
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DOI：
10.1007/s40430-021-02942-5
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发表时间：
2021-03
影响因子：
2.2
通讯作者：
Hai-Rong Sun;Xiaoqiang Tang;Xiaoyu Wang;Q. Cong
中科院分区：
文献类型：
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作者：
Hai-Rong Sun;Xiaoqiang Tang;Xiaoyu Wang;Q. Cong
低重力模拟平台在研究着陆器着陆到其他行星表面时的运动状态方面起着至关重要的作用。在着陆器高速着陆过程中，平台要求实时恒力。为提高高速着陆系统的力跟踪精度，提出了一种模糊-PI混合控制策略。为了增强对比度，还对常规PI控制方案进行了补充。考虑到大惯性系统的特点，摩擦对实验的影响是不能忽略的。为此，进行了摩擦测量实验，以保证数值模拟结果的准确性。首先，分析了由电机、减速顶、滚子和负载组成的系统的理论模型。此外，对模糊PI和PI两种控制方法在不同干扰力下的理论模型进行了仿真比较，验证了所提出的控制策略的有效性和性能。最后，对该模型进行了实验评估，取得了令人满意的结果。
Low-gravity simulation platforms play a crucial role in investigating motion states of the lander when landing on the surface of other planets. During the high-speed landing of landers, platforms demand for constant force in real time. A hybrid Fuzzy-PI strategy is proposed in this paper to improve the tracing accurate of force for the high-speed landing system. To enhance contrasts, conventional PI control scheme is also complemented. In view of the characteristic of large-inertia systems, influence of friction on the experiment cannot be neglected. Therefore, a friction measurement experiment is carried out to ensure the accuracy of the numerical simulation results. First, a theoretical model of the system comprised of motors, retarders, rollers and loads is analyzed. Furthermore, simulations of the theoretical model under different disturbing force are compared between these two control methods (Fuzzy-PI and PI), which verifies great effectiveness and performance of the proposed strategy. Finally, experiments are conducted to evaluate the model, and the results are satisfactory.