引用本文:时中,黄学祥,谭谦,胡天健.自由飞行空间机器人的遥操作分数阶PID控制（英文）[J].控制理论与应用,2016,33(6):800~808.[点击复制]
SHI Zhong,HUANG Xue-xiang,TAN Qian,HU Tian-jian.Fractional-order PID control for teleoperation of a free-flying space robot[J].Control Theory and Technology,2016,33(6):800~808.[点击复制]
自由飞行空间机器人的遥操作分数阶PID控制（英文）
Fractional-order PID control for teleoperation of a free-flying space robot
摘要点击 3129  全文点击 1559  投稿时间：2015-04-22  修订日期：2016-02-17
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DOI编号  10.7641/CTA.2016.50326
  2016,33(6):800-808
中文关键词  空间遥操作  PID控制  分数阶微积分  参数稳定域  D–分割法
英文关键词  space teleoperation  PID control  fractional calculus  stability domain of controller parameters  D– decomposition method
基金项目  国家自然科学基金（No. 11402004）
作者单位E-mail
时中* 北京跟踪与通信技术研究所 541390019@qq.com 
黄学祥 北京跟踪与通信技术研究所  
谭谦 北京跟踪与通信技术研究所  
胡天健 北京跟踪与通信技术研究所；清华大学航天航空学院  
中文摘要
      作为空间操控的重要手段, 空间遥操作将趋向于更精细和更灵活. 然而传统的空间遥操作控制方法难以兼 顾操作的精细性和灵活性. 针对这一问题, 本文阐述了一种面向自由飞行空间机器人的遥操作分数阶PID控制方法. 首先根据自由飞行空间机器人的动力学模型, 设计了空间遥操作分数阶PID控制系统. 其次, 针对空间遥操作时滞 系统和系统的鲁棒性和抗干扰性要求, 基于系统的参数稳定域, 对分数阶PID控制器的参数进行整定. 最后, 数值仿 真和地面遥操作实验验证了分数阶PID控制器的跟踪性能、抗干扰性、鲁棒性和抗时延抖动性能. 因此, 本文设计的 分数阶PID控制器不仅适合于空间遥操作复杂时滞系统, 而且可以满足未来空间遥操作任务的发展需求.
英文摘要
      As one of the most important ways of executing tasks of space operations, space teleoperation will develop to be “more careful and more flexible” in the future. However, the conventional control method for space teleoperation has difficulty in balancing the precision and flexibility of operations. Aiming at this problem, this paper presents a fractionalorder PID (FOPID) control method for teleoperation of a free-flying space robot. First, based on the dynamic model of the free-flying space robot, the FOPID control system for space teleoperation is designed. Then, directing to the space teleoperation time-delay system and the requirements of the robustness and anti-interference capabilities for space teleoperation, the parameters of FOPID controller are tuned based on its stability domain. Finally, numerical simulation and ground teleoperation experiment verifies the tracking performance, anti-interference capabilities and robustness of the FOPID controller. Thus, the FOPID controller designed in this paper is fit for space teleoperation time-delay system and meets the development direction of future space operation tasks.