| 漂浮基空间机械臂模糊控制仿真 |
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| 引用本文： | 王家驹,王路,洪在地. 漂浮基空间机械臂模糊控制仿真[J]. 机械与电子, 2007, 0(11): 31-34 |
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| 作者姓名： | 王家驹 王路 洪在地 |
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| 作者单位： | 河南职业技术学院,河南,郑州,450046;北京市外企服务公司,北京,100102;北京航空航天大学,北京,100083 |
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| 摘 要： | 针对空间机械臂动力学建模和轨迹跟踪控制的复杂性,详细介绍了在虚拟样机技术软件ADAMS里,建立漂浮基空间机械臂的动力学模型、轨迹跟踪模糊PD控制策略及其ADAMS和Matlab的联合仿真.在成功建模的基础上,使用模糊PD控制策略,非常好地完成了漂浮基空间机械臂的轨迹跟踪控制任务.
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| 关 键 词： | 空间机械臂 动力学与控制 虚拟样机技术 联合仿真 |
| 文章编号： | 1001-2257（2007）11-0031-03 |
| 修稿时间： | 2007-04-30 |
Simulation on Fuzzy Control of Free-floating Space Manipulator |
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| WANG Jia-ju,WANG Lu,HONG Zai-di. Simulation on Fuzzy Control of Free-floating Space Manipulator[J]. Machinery & Electronics, 2007, 0(11): 31-34 |
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| Authors: | WANG Jia-ju WANG Lu HONG Zai-di |
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| Affiliation: | 1. Henan Vocational Teehndogy Institute, Zhengzhou 450046, China ; 2. Beijing Foreign Enterprise Service Group Co. , Ltd. , Beijing 100102, China ; 3. Beihang University, Beijing 100083, China |
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| Abstract: | Based on complexities of the dynamic model and trajactory tracking control of free-floating space manipulator,the dynamic model of free-floating space manipulator based on ADAMS,fuzzy control system of trajectory tracking and united simulation combined with ADAMS and Matlab are expressed.Based on the correct dynamic model,the task of trajectory tracking of free-floating space manipulator is finished well based on fuzzy PD. |
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| Keywords: | space manipulator dynamics and control virtual prototyping technology united simulation |
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