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本文将Bar-Kana等人的模型参考自适应控制法(MRAC)用于柔性结构的自适应控制中,原方法要求系统的输入维数等于输出维数。对于柔性的大型空间结构(LSS),观测量的数目往往大于输入量的数目。本文采用组合LSS各观测点的信号,形成综合输出矢量Y_P,以满足自适应控制系统中,用较少的控制输入达到控制LSS结构中较多观测点的要求。为了克服跟踪误差,本文建议用最优返馈增益阵作为输出阵C_P,并采用LQR理论以求C_P。 本文将大型空间结构的实例简化成离散模型,进行模拟计算,计算结果说明系统有较好的跟踪特性,当LSS的柔度变化较大时,系统具有跟踪的鲁棒性。
In this paper, Bar-Kana et al.’s model reference adaptive control method (MRAC) is used in adaptive control of flexible structures. The original method requires that the input dimension of the system be equal to the output dimension. For flexible large-scale space structures (LSS), the number of observations tends to be larger than the number of inputs. In this paper, we combine the signals of each observation point of LSS to form the integrated output vector Y_P to meet the requirement of controlling more observation points in the LSS structure with less control inputs in the adaptive control system. In order to overcome the tracking error, this paper proposes to use the optimal return gain array as output array C_P, and LQR theory to find C_P. In this paper, the large space structure is simplified into discrete model and simulated. The calculation results show that the system has good tracking characteristics. When the change of LSS flexibility is large, the system has tracking robustness.