Design And Implementation Of Space Rendezvous And Docking Linear Movement Simulator Control System

Robust Hinf control design method and basic construction of model-based friction compensation are used to deal with uncertainties and friction existing in space rendezvous and docking linear movement simulator, in the process of designing and implementing this simulator controller. Robust controller is obtained, and the system debugging results prove the method proposed.Firstly, the plant model is derived based on the model of the brushless direct current motor. The main possible uncertainties of the linear system are analyzed and described, as the frequency model studied.Secondly, the friction torque of linear system is studied by testing including its characteristic and its impact on performance. According to the friction curve changed with speed, Stribeck model with fact run speed is chose to compensate for friction torque. Obtain the equivalent plant model by testing in frequency domain, which contains the standard model and uncertainties boundary.Thirdly, research the choose method of the weight functions in Hinf mixed sensitivity optimizing design, and give the answer of Hinf control based on LMI.Finally, for space rendezvous and docking linear movement simulator, digital implementation is given and analyzed. The physical test result is shown the effectiveness of the proposed method.