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在空间漂浮平台上,两自由度转台在跟踪指向空间目标的过程中对平台会产生姿态扰动,使平台姿态发生变化,从而影响转台末端的空间指向,降低指向跟踪精度,因此转台与平台间存在耦合关系.当指向机构的转动惯量相对较大或快速精密指向时这种耦合关系变得不可忽视.为改善这一情况下的跟踪控制精度,提出了耦合补偿方法,加入平台实时姿态来修正转台跟踪的目标,并使用结合反馈线性化的状态反馈控制方法,最终通过仿真实验与传统PD控制方法进行对比,结果表明结合反馈线性化的状态反馈控制方法有效提高了跟踪精度.
On the space floating platform, the two-degree-of-freedom turntable can generate the attitude disturbance to the platform during the tracking of the space target and change the attitude of the platform, thus affecting the spatial orientation at the end of the turntable and reducing the tracking accuracy. Therefore, there exists between the turntable and the platform Coupling relationship.When the moment of inertia of the pointing mechanism is relatively large or when it is pointed quickly and quickly, the coupling relationship becomes negligible.In order to improve the tracking control accuracy in this case, a coupling compensation method is proposed, and the real-time attitude of the platform is added to correct the turntable Tracking and using the state feedback control method combined with feedback linearization. Finally, the simulation experiment is compared with the traditional PD control method. The results show that the state feedback control method combined with feedback linearization effectively improves the tracking accuracy.