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针对航天器是一种通过柔性关节连接浮动中心刚体和挠性附件(如卫星太阳帆板,空间机器人等)组成的刚柔耦合复杂系统,在调姿或者外部扰动带来振动时,将影响系统的稳定度和指向精度,基于模态理论,建立包括柔性关节和柔性链的刚柔耦合结构动力学模型并写成状态空间表达形式,且分析系统的能控性。提出采用复合正位反馈(Positive position feedback,PPF)和比例微分(Proportional derivative,PD)控制律抑制柔性结构振动,在理论上分析其稳定性和控制性能。设计并建立刚柔耦合结构试验平台,进行包括位置设定点及转动振动主动控制研究。试验比较研究结果验证提出方案能够快速地抑制振动。
The spacecraft is a rigid-flexible coupled system composed of a flexible joint connecting a floating center rigid body and a flexible attachment (such as a satellite solar panel, a space robot, etc.). When the attitude or external disturbance brings vibration, the spacecraft will affect the system Based on the modal theory, a dynamic model of rigid-flexible coupling structure including flexible joints and flexible chains is established and written into the state space expression form, and the controllability of the system is analyzed. It is proposed that the positive position feedback (PPF) and Proportional derivative (PD) control laws suppress the vibration of flexible structures and the stability and control performance are analyzed in theory. Design and establish rigid-flexible coupling structure test platform, including the position set point and active vibration control research. The test results show that the proposed scheme can quickly suppress the vibration.