Non-Fragile Robust Control for Lunar Rotary-Drill Spamling Technology
摘要: 回转钻进采样技术是实现月面采样任务的重要手段.回转采样机构在月面复杂环境下会发生模型摄动,并受到外部扰动的影响,采样控制器的鲁棒性对顺利完成采样任务具有重要意义.本文针对回转采样机构,分析了采样过程中的模型摄动、外部扰动影响,建立了采样机构状态空间模型,利用线性矩阵不等式方法设计了状态反馈非脆弱鲁棒控制器,仿真结果表明:在有界模型摄动、有界随机系统扰动情况下,回转钻进采样控制系统内稳定,并对扰动具有抑制能力.Abstract: Rotatory drilling is a key technology to lunar sampling mission. Model perturbation of rotatory drilling mechanism exists in lunar complex environment. And system disturbance always influences the control system performance. Robust of controller plays an important role in sampling mission. Perturbation and disturbance was analyzed in the state space description. The state feedback non fragile robust controller was induced with linear matrix inequality method. Simulation results proved that the controller is inner stable with bounded model perturbation and has suppression ability to disturbance.