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针对挠性航天器三轴姿态同时机动时太阳帆板的振动抑制问题,提出了采用压电智能元件作为致动器的主动振动控制方法,基于Lagrangian方法和四元数参数化建立了航天器姿态动力学和运动学模型.利用航天器姿态控制问题固有的无源性,设计了一种仅利用姿态四元数而无需以角速度测量、挠性变形位移及速率测量作为反馈的控制规律,使得在大角度姿态机动的同时能有效地抑制太阳帆板的振动;基于Lyapunov方法证明了设计的动态控制器能够保证姿态的渐近稳定性和模态振动的衰减性.将该方法的控制效果与PD控制方法进行了比较,仿真验证了所给出的控制方法的可行性和有效性.
Aiming at the vibration suppression of solar panels during flexible three-axis attitude simultaneous maneuvering of flexible spacecraft, an active vibration control method using piezoelectric smart element as actuator is proposed. Based on Lagrangian method and quaternion parameterization, attitude of spacecraft is established Kinematics and kinematics model.Using the inherent passiveness of the spacecraft attitude control problem, a control law that uses only the quaternion of the attitude without the need of angular velocity measurement, flexible deformation displacement and velocity measurement as the feedback control is designed, Large-angle attitude maneuvering can effectively restrain the vibration of the solar panel; Lyapunov method is used to prove that the designed dynamic controller can ensure the asymptotic stability of the attitude and the attenuation of modal vibration. The control effect of this method is compared with PD The control methods are compared and the feasibility and effectiveness of the proposed control method are verified by simulation.