Active damping control method for suspended gravity offloading system
To address the issue of underactuation caused by passive buffers in a tether-driven microgravity simulation system,an active buffer control method based on Pneumatic Artificial Muscles(PAM)was proposed.Firstly,the tether-driven microgravity simulation system was analyzed for ground-based micro/low-gravity simulation.A block-structured nonlinear neural network modeling method to effectively over-come the highly nonlinear nature of PAM was introduced.Subsequently,the disturbances caused by the flexible interaction between the tether and the spacecraft was analyzed.Finally,a nonlinear model predic-tive tracking control approach was employed.Compared to traditional PID control methods,the proposed was introduced approach offers advantages such as simple parameter adjustment,excellent real-time track-ing performance,and robust control performance in the presence of perturbations to the target inertia pa-rameters of the unloading system.Experimental results demonstrate that the proposed method ensures tracking force error within 3%under various disturbances.The feasibility of the active buffer based on PAMs is confirmed experimentally,and the proposed control method achieves force-tracking control in the presence of flexural uncertainty.
suspended gravity offloading systempneumatic artificial muscleactive buffernonlinear model predictive tracking control
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维普
