Affiliation:
1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Abstract
With the development of aerospace technology, more and more scientific activities are carried out in the universe. Due to the microgravity environment of space, the control of the 6-DOF platform is different from those on the earth. First, a virtual prototype model of the 6-DOF non-contact platform was built in ADAMS. The dynamics model was developed based on the Newton–Euler method. Then, the 6-DOF backstepping sliding mode controller and disturbance observer were designed in MATLAB/Simulink. Finally, by combining the virtual prototype model in ADAMS and the control system in MATLAB, the co-simulation model was proposed. According to the simulation results, the 6-DOF backstepping sliding mode controller can well complete the positioning, 3D trajectory tracking, and vibration isolation tasks of non-contact 6-DOF platform. Quantitatively, the spatial error of backstepping sliding mode controller’s 3D trajectory tracking is only 50% of the ordinary sliding mode control and it is 20% of the nonlinear propotional-derivative-integral.
Funder
Natural Science Foundation of Shanghai
Shanghai Sailing Program
State Key Laboratory of Mechanics and Control of Mechanical Structures
Shanghai Rising-Star Program
National Natural Science Foundation of China
China Postdoctoral Science Foundation
Subject
Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science
Cited by
4 articles.
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