空间控制技术与应用2025，Vol.51Issue(2)：51-60,10.DOI:10.3969/j.issn.1674-1579.2025.02.005
改进粒子群算法优化模糊控制微重力系统
Improved Particle Swarm Optimization for Fuzzy Control of Microgravity Systems
摘要
Abstract
Microgravity simulation platform is an important part of space manipulator simulation,in which gravity unloading requires high load capacity,high response speed and high precision performance.A gravity compensation system based on magnetic quasi-zero stiffness mechanism is proposed to reduce mechanical friction through non-contact magnetic force.Aiming at the complex nonlinear characteristics of the system,a method combining improved particle swarm optimization(PSO)with fuzzy proportional integral differential(PID)control is proposed.Chaos mapping and differential decreasing inertia weight and compression factor are used to optimize the controller parameters.Compared with the traditional fuzzy PID control method,the gravity unloading ability is higher.The experimental results show that the microgravity simulation accuracy of the space robotic arm is more than 98%,which has the characteristics of high precision and fast response,and verifies the effectiveness of the method.The research results provide reliable technical support for the high-precision ground test of the space robot arm,and have important engineering application value.关键词
微重力模拟/空间机械臂/PSO算法/磁准零刚度/模糊PID控制Key words
microgravity simulation/space robotic arm/PSO algorithm/magnetic quasi-zero stiffness/fuzzy PID control引用本文复制引用
刘涛,孙浩,郝永波,韩强,李跃华,袁炜涵..改进粒子群算法优化模糊控制微重力系统[J].空间控制技术与应用,2025,51(2):51-60,10.基金项目
国家自然科学基金资助项目(51807139)和天津市应用基础研究多元投入项目(22JCZDJC00930) National Natural Science Foundation of China(51807139)and Tianjin Applied Basic Research Multi-Investment Project(22JCZDJC00930) （51807139）
