南京农业大学学报2013，Vol.36Issue(4)：133-140,8.DOI:10.7685/j.issn.1000-2030.2013.04.022
柔性月壤取样器振动频率的窄带扫频模糊自适应控制
Vibration frequency control of the flexible lunar regolith sampler using narrowband sweep frequency-based fuzzy adaptive strategy
摘要
Abstract
Aiming at solving the problem of big volume,large weight and high power consumption of the sampler that is fixed on the lunar rover nowadays,this paper presents the design and implementation of a novel flexible mini lunar regolith sampler.Based on the established nonlinear dynamics resonance broken system of the" sampling head-lunar regolith",it has been found that the most suitable drilling condition can be achieved when the sampling head is in resonance stage.Considering the nonlinear time-varying characteristics of the sampler dynamics in drilling,we present a narrowband sweep frequency-based fuzzy adaptive control strategy for adjusting the flexible sampler's resonant frequency.The simulation results have verified the effectiveness of the control strategy.The experimental results show that the presented control strategy can improve the drilling depth,drilling efficiency and the cast throw efficiency by 55.7％,40％ and 60.4％ in the lunar soil stimulant,respectively.关键词
柔性机器人/月球探测/取样器/动力学/自适应控制Key words
flexible robot /lunar exploration/ sampler/ dynamics / adaptive control分类
信息技术与安全科学引用本文复制引用
卢伟,凌云,宋爱国,丁为民,曾洪,谷士鹏..柔性月壤取样器振动频率的窄带扫频模糊自适应控制[J].南京农业大学学报,2013,36(4):133-140,8.基金项目
教育部国防基础研究资助项目(GF708006) （GF708006）
教育部重大创新工程培育资金项目(708045) （708045）
