Earticle

초록

영어

Comparing to the big volume, large weight and high power consumption of the conventional samplers which are fixed on the lunar rover, the paper firstly described a novel flexible mini lunar sampling robot. Then the nonlinear dynamics resonance broken system is built to model the contact between the sampling robot and the lunar regolith. It is found to be suitable for drilling when the sampling robot is in the resonance condition. For the nonlinear time-varying system of the dynamic modeling of the sampler in drilling, we presented the method of the frequency neural-fuzzy adaptive control based on the dynamic resonant frequency prediction of the flexible sampling robot using neural networks. Firstly the algorithm predicts the dynamic resonant frequency of the sampling robot by GRNN. Then a neural-fuzzy adaptive control system is established, in which the frequency prediction error, the amplitude and its variable are adopted as the input and the sweep frequency bandwidth as the output, to adjust the frequency bandwidth dynamically. What’s more, the simulation results verify the effectiveness of the control strategy. Finally, the experimental results show that the control algorithm can improve the drilling depth, drilling efficiency and the discarding efficiency by 66.7%, 65.2% and 67.4%, respectively, in stimulant lunar regolith.

목차

Abstract
 1. Introduction
 2. Mechanical Design of the Flexible Lunar Regolith Sampling Robot
 3. Dynamic Resonant Broken System
 4. Frequency Neural-Fuzzy Adaptive Control System Based on the Dynamic Prediction by GRNN
  4.1 The dynamic prediction of resonant frequency based on GRNN
  4.2 Frequency adaptive control based on ANFIS
 5. Experimental Results and Discussion
 6. Conclusions
 Acknowledgements
 References

키워드

저자

• Wei Lu [ College of Engineering, Nanjing Agricultural University / Jiangsu Province Engineering Lab for Modern Facility Agriculture Technology & Equipment, Nanjing Agricultural University, Nanjing 210031, China ]
• Yun Ling [ School of Instrument Science and Engineering, Southeast University/ Key Laboratory of Remote Measuring and Control in Jiangsu Province, Nanjing 210096, China ]
• Ai-guo Song [ School of Instrument Science and Engineering, Southeast University/ Key Laboratory of Remote Measuring and Control in Jiangsu Province, Nanjing 210096, China ]
• Wei-min Ding [ College of Engineering, Nanjing Agricultural University / Jiangsu Province Engineering Lab for Modern Facility Agriculture Technology & Equipment, Nanjing Agricultural University, Nanjing 210031, China ]
• Xian-lin Zhao [ College of Engineering, Nanjing Agricultural University / Jiangsu Province Engineering Lab for Modern Facility Agriculture Technology & Equipment, Nanjing Agricultural University, Nanjing 210031, China ]
• Hong Zeng [ School of Instrument Science and Engineering, Southeast University/ Key Laboratory of Remote Measuring and Control in Jiangsu Province, Nanjing 210096, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605