| Asteroids/Comet exploration is one of the cutting-edge topics on deep space exploration today. It is important to develop the technology of asteroids/comet exploration faster, because exploration of asteroids provides clues to study the original life on earth, the formation of the solar system and the planetary evolution. As an important part of"Adhesion Mechanism Prototype of Asteroids Lander"of National 863 Project in the field of deep space exploration and space experiment technology, the control system for adhesion mechanism of an asteroids/comet lander is developed, which tests relevant performance index of the adhesion mechanism of the lander.First of all, the electric system is developed based on the performance index and the experiment condition mainly including control module of the anchor aiming mechanism and the cardan mechanism.In order to do research on the position control method of the cardan mechanism, the model of kinematics and dynamics is studied and a PD controller based on composite feedback is applied to the position control system, the stability of which is proved and the result of the experiments is compared with traditional PID controller. In order to solve the problem that the parameters of PID controller is difficult to adjust, control method of adjusting the parameters of PID controller automatically is researched based on intelligent control, mainly including fuzzy PID control, Neural Network PID control through Matlab/Simulink. The control effect of BPNN, Wave-NN, RBFNN is detailed compared and PID controller based on RBFNN is proved to be the best.Finally, experiments on the control system for adhesion mechanism of asteroids/comet lander are carried out. The function and the performance index of anchor aiming system is tested on 2-DOF gravity experiments platform and the PD controller based on composite feedback for the cardan mechanism is also validated, which is proved to satisfy the demands of the control system. |
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