Intelligent Control of a Space Manipulator Ground Unfold Experiment System with Lagging Compensation

Abstract

In ground testing of space manipulators, gravity compensation is a critical testing requirement. The objective of this paper was to design a space manipulator gravity compensation test platform for ground tests and solve the problems of force control oscillation and precision degradation caused by the execution lag encountered in the development process. An intelligent PID controller was designed for this active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and a specially designed second-order method was used to solve the problem of the execution lag in this mechanism. The intelligent controller was developed based on adaptive dynamic programming and redesigned to improve its transient performance. The simulation was carried out, and its results were compared with the results on a real machine to demonstrate the effectiveness of this set of experimental controllers. This paper compares in detail the results of the designed method on system input and output and shows the effectiveness of this method in dealing with the execution lag of the mechanism. In conclusion, in this work, we successfully designed and implemented an intelligent PID controller for an active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and the experimental results demonstrate the effectiveness of the proposed method.