基于xpc的五自由度气浮平台控制系统设计及仿真分析-design and simulation analysis of control system of five-degree-of-freedom air floatation platform based on xpc.docxVIP

AbstractChinas successful launch of Tiangong-1 and the successful completion of the mission that shenzhou 8 has been rendezvoused and docked with shenzhou 9, marks Chinas space industry entered a new strategic stage. The development and perfection of space rendezvous and docking technology can effectively guarantee the establishment of a space station and the completion of space experiments. The rendezvous and docking mission requires a lot of manpower and material resources, so the ground docking simulation platform is to simulate space rendezvous and docking mission and to verify important means of the control strategy. The main work of this paper is to set up and implement various function modules of 5-DOF air simulation platform, for the attitude control, this paper designs the sliding mode controller, studies the control allocation, and verifies the simulation.First,in this paper,introduces the working principle of 5-DOF air platform and the overall scheme design of control system , expounds working principle and composition of each functional module of the air platform, completes the actual test.Set up the ground monitoring interface and complete communication between the ground monitoring computer and satellite-borne computer.Secondly, according to knowledge of the rigid body dynamics and kinematics, set up dynamic model of 5-DOF air platform dynamics and kinematics model based on error quaternion. Calculate rotational inertia matrix of the air platform, and concisely analyze the air platform bear the disturbance power and disturbance torque in the actual situation, provide a theoretical basis for the design of the attitude controller and simulation.Again, the paper expounds the related theory of sliding mode ariable structure, according to the requirement of attitude control of the air platform , designs the traditional sliding mode variable structure controller,fast terminal sliding mode controller and nonsingular terminal sliding mode controller respectiv