Research On Motion Control Of The Ground Moving Basement And System Structure Design

With the rising demand of national strategy such as manned spaceflight, lunar exploration program, space cooperation and confrontation, and so on, as well as the limitation of test environment of space cooperation and confrontation, the research group establishes basic platform for ground test and verification of the aerospace engineering, through the way of using the motion control of ground moving basement to reproduce the motion of the space cooperation target. This thesis takes ground moving basement as the research object, studies the motion control problem on the basis of the dynamic model, and designs the structure of the motion control system.Firstly, the motion control problem of ground moving basement is elaborated, the research idea of the thesis is proposed here on the basis; then some preliminary knowledge including the concepts and properties of nonholonomic system and differential flatness system which will be used in this thesis is introduced, so that we can lay the foundation for the research of the motion control problem of ground moving basement.Secondly, the mathematical model of the ground moving basement is established, the trajectory is planned by using the flat property of the basement on the basis of the dynamic model, and the trajectory generation is realized through simulation; then an optimal trajectory planning method actively considering various constraints is proposed here on the basis, and the optimal trajectory generation is realized through simulation, the trajectory of the final planning can not only meet various constraints, but also optimize the performance index.Thirdly, the approximate linearization of the system is completed by Taylor expansion on the basis of the dynamic model, then the feedback controller is designed by using the linear system. The process of the approximate linearization of the system will create interference terms, so an interference estimator is designed to estimate and compensate the interference terms. The trajectory tracking control of the ground moving basement is realized through simulation, and the tracking effect is good.Finally, we proceed from the actual function requirement of the motion control system of ground moving basement, design mechanical structure and electrical structure of the system, and accomplish selections of the corresponding equipment and production of the physical system here on the basis. That the ground moving basement which is designed and made by the research group can meet the actual motion function requirement is verified by physical motion experiment.