基于模糊PID控制的空间吊装物姿态控制

针对在装配式房屋建造过程中,房屋构件及其姿态只能依靠人力才能够准确地调整到目标位置,不仅工作效率低且容易造成人员伤亡的问题。对空间吊装物姿态位置控制进行了研究。将角动量交换原理运用到空间吊装物姿态控制上,通过改变飞轮速度与加速度达到控制空间吊装物绕吊装线水平旋转角度姿态的目的。介绍了飞轮动力系统,推导了整个实验装置的动力学方程和运动学方程。考虑到被控对象吊装物负载经常改变,设计了模糊PID(proportional integral derivative)控制器,使控制效果达到最佳。首先对控制算法进行了Simulink仿真研究,然后在搭建的实验装置上进行了实验。实验结果表明,能够实现空间吊装物姿态位置控制,且模糊PID控制更适合于实际控制。

Research on Attitude Control of Space Hoisting Based on Fuzzy PID Control

In view of the problem that during the construction of prefabricated houses, the building components and their posture can only be accurately adjusted to the target position by manpower, which not only has low work efficiency but also easily causes casualties. Our research group has studied the position control of the objects being hoisted, and applied the angular momentum exchange principle to the position control of the objects being hoisted. By changing the speed and acceleration of the flywheel, the horizontal rotation angle of the objects being hoisted can be monitored. This paper introduces the flywheel system, and deduces the dynamic equations and kinematic equations of the whole experimental device. Considering that the load of the the objects being hoisted varies, a fuzzy PID controller is designed to achieve the best control effect. In this paper, simulink simulation research on the control algorithm is carried out first, and then the experiment is carried out on the experimental device built. The experimental results show that the position control of the objects being hoisted can be realized, and the fuzzy PID control is more suitable for control in real situations.