关键词: 气浮台, 旋翼推力, 位姿控制, 模糊控制, 轨迹跟踪

Abstract: Aiming at the problems of short time and low precision of jet thrust control in air bearing table simulation test, an improved fuzzy cascade control scheme based on small thrust difference of rotor wing is proposed. Firstly, the characteristics of rotor wing thrust were modeled, the thrust output characteristics of single-channel rotor wing and jet were compared, and the feasibility of low-thrust rotor wing propulsion instead of jet were explained. Secondly, aiming at the dead zone problem of rotor wing thrust, a differential thrust method for rotor wing thrust distribution was proposed to solve the engineering difficulty of air bearing table control. Finally，a fuzzy adaptive cascade rotor wing thrust controller based on differential thrust method was designed. On the basis of this, the correction coefficient was introduced to adjust the intermediate volume ratio of inner and outer ring transfer online. The controllercan increase the position and attitude convergence speed and the control accuracy of the system, improve the robustness of the air float platform., and smooth the speed curve. The experimental results show that the fast displacement tracking adjustment time of the unit step signal is less than 40s, the control accuracy is less than 0.4mm, and the standard variance of error is 2.2×10^-4. This method can realize fast and accurate trajectory tracking control of the air-bearing platform under the action of the low thrust rotor, and provides a new way for the air bearing table platform to accurately simulate the space motion.

Key words: air bearing table, rotor thrust, position-pose control, fuzzy control, trajectory tracking