Antiswing control for pendulum of tetheredcombination based on towing point motion
                                                   YAN Yuchen1，GUO Jifeng1，WANG Ban1,2, LIU Shuyan3
（1.College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; 2.School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China; 3.China Qualuty Certifcation Center Hangzhou Branch, Hangzhou 310005, China)

Abstract: Aiming at the spherical pendulum excited in space capture or towing of tetheredcombination, the antiswing control strategy was researched on the ontheground spherical pendulum. In order to the get fixed position, constant velocity and stable angle, the controller considering the feedback linearization and PID control was designed and simulated in numerical emulation software under the controlled and uncontrolled situation, meanwhile compared with the sliding mode control and the approximate linearization PID control by input and output. Angle measurement and anthswing experiment were carried out on the experimental platform. The experiment results indicate the control strategy can restrain the outofplane and inplane angle into ±2°at the initial angle of±30° in 30 s, and the towing point’s positioning error is 5 cm and 9 cm in X and Y dimension. Experimental results show the similar tendencies of the calculate results. The results prove that the control strategy is reasonable and can be used effectively in tetheredcombination.

Key words: tetheredcombination; spherical pendulum; nonlinear system; PID control