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针对Stewart超静卫星载荷和星体平台在姿态控制时存在平动和转动耦合问题,提出一种基于广义动量定理,反映载荷质心相对整星质心平动和转动耦合因素的动力学建模方法。由于载荷质心存在平动位移,极易造成Stewart平台支杆行程饱和,甚至发生碰撞。为避免支杆行程饱和,设计了具有平动前馈补偿控制的载荷控制器和具有支杆去饱和控制的星体平台控制器。通过3种姿态控制模式验证了控制器的正确性。仿真结果表明,在星体平台姿态实现10″控制精度的基础上,通过Stewart平台高精度指向控制,实现载荷0.1″指向控制。星体平台和载荷控制器在3种姿态控制模式下都能够有效实现支杆去饱和控制,避免发生机械碰撞。
In order to solve the problem of translational and rotational coupling of stewart ultra-quiet satellite payloads and astral platforms in attitude control, a dynamic modeling method based on the generalized momentum theorem is proposed to reflect the translational and rotational coupling of the centroid of the centroid of the load centroid. Due to the translational displacement of the center of mass of the load, the strut of the Stewart platform can easily become saturated and even collide. In order to avoid the strut stroke saturation, a load controller with translational feedforward compensation control and a astral platform controller with strut desaturation control were designed. The correctness of the controller is verified by three attitude control modes. The simulation results show that on the basis of the 10 “control accuracy achieved by the attitude of the astral platform, the high-precision pointing control of the Stewart platform is realized, and the load of 0.1” is controlled. Astral platform and load controller can effectively achieve strut desaturation control in 3 attitude control modes to avoid mechanical collision.