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提出了将柔性结构的分力合成主动振动抑制方法和反馈控制律结合使用来提高柔性结构控制系统性能指标的方法。应用该方法仅需要知道闭环系统及柔性振动的频率及阻尼 ,而且可以同时抑制任意多个振动模态 (包括控制器引起的振动、柔性振动及其他形式的振动 )。分力合成方法对频率及阻尼的不确定性具有较强的鲁棒性 ,使该方法易于工程实现。文章针对单柔性杆 ,将分力合成主动振动抑制方法和反馈控制相结合 ,设计了不同形式的大角度机动控制律 ,数值仿真和试验结果充分验证了方法的有效性
The method of combining active force suppression method and feedback control law of component force of flexible structure to improve the performance of flexible structure control system is proposed. This method only needs to know the frequency and damping of the closed-loop system and the flexible vibration, and it can simultaneously suppress any number of vibration modes (including controller-induced vibration, flexible vibration and other forms of vibration). The component synthesis method is robust to the uncertainties of frequency and damping, making the method easy to implement. In this paper, a single flexible rod is used to combine active vibration suppression method with feedback control. Different types of large-angle maneuver control laws are designed. The numerical simulation and experimental results fully verify the effectiveness of the method