Design Of Vertical Automatic Control System And Attitude Stabilization Control Of Air Bearing Table

Space technology has become a hot spot in today's scientific research.In order to better explore and use space resources,a variety of spacecraft have been manufactured to carry out the corresponding tasks.However,the space environment and the ground environment is different,vacuum,radiation and micro-gravity and other conditions on the spacecraft specifications put forward stringent requirements.The complexity of the space mission and the high operating costs make it impossible for people to test the spacecraft on the ground,so the full physical simulator came into being.The full physical simulator can simulate the spacecraft running in the ground,which greatly reduces the test cost before the mission performs the task,and can improve the execution of complex tasks.In order to shorten the preparation time,optimize the initial state and improve the control effect when using the six-degree-of-freedom flotation table,this paper studies the vertical position control and attitude stabilization control.First of all,this paper studies the working process of vertical air bearing,and analyzes the resistance factors of air gap bearing to air movement,and analyzes the unstable factors of air supply input.Specific implementing agencies are selected and modeled.The air bearing is abstracted into a variable mass air cavity and modeled as a basis for establishing the overall model of the position control system.Through simulation,it validates the feasibility of the model and analyzes the model characteristics.Second,the use of dual-valve segmentation control program.According to the control requirements,the parameters of the segment control are analyzed,and the segment switch logic and program are designed.Then,according to the proposed double valve control scheme,the digital incremental PID controller is used in the fine tuning stage,and the fuzzy PID controller is adopted in the coarse stage.In the coarse control,the fuzzy rules of experience setting are abandoned,the fitness function is designed,and the main operators in the genetic optimization algorithm are improved,and the rules are optimized.And then simulate the entire control program.Thirdly,the attitude control of the six-degree-of-freedom flotation table and the docking stage are studied.Application of error quaternion to establish attitude model of body on platoon platform.Aiming at the requirement of suppressing external interference and rapid stability,a new non-singular fast terminal sliding surface is designed and the backward control law is deduced by using the backstepping method.The numerical simulation is used to verify the control algorithm.Finally,the selection of hardware and hardware and software systems to build the work was completed.The man-machine interaction interface is designed.The control program is written and the actual engineering test is carried out.