Fuzzy Adaptive Impedance Control of Attitude Adjustment Mechanism for Solar Wing Docking
In order to realize the compliant docking of the spacecraft and the solar wing,a contact force control strategy based on impedance control is proposed in this paper,and the six-degree-of-freedom parallel attitude adjustment mechanism is token as research purpose.Firstly,the impedance model between the doc-king member and the member to be docked is established,and the contact force error quantity is converted into the position correction quantity.Secondly,based on the impedance control,an adaptive controller is in-troduced,which solves the disadvantage of the fixed target parameter of the impedance control and improves the adaptability of the control system to the environment.At the same time,a fuzzy controller is incorporated to adjust the impedance parameter on-line in real time.Finally,a joint simulation is implemented,which verifies the effectiveness of the proposed method by the experimental results based on combining Adams with Simulink.
Solar wingParallel attitude mechanismSupple controlAdaptive algorithmFuzzy control
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