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对有快速姿态机动要求的大挠性卫星,为减小挠性振动对姿态机动时间的影响,对基于比例微分(PD)控制的输入成型姿态机动方法进行了研究,提出用输入成型方法在快速机动过程中直接对附件的挠性振动进行抑制。将动力学方程扩展到状态空间,通过求解状态矩阵的特征值解出系统的等效振动频率与阻尼比,以获得成型输入器。给出了一种简化的且能满足工程使用的输入成型频率参数确定方法。设计了输入成型的PD控制器,实现欧拉轴快速姿态机动,同时有效抑制附件的振动。对输入成型器的误差进行了分析。仿真分析了ZVD,EI,ZVDD,EI-Twohump四种输入成型器对某卫星太阳阵挠性振动的抑制效果,以及惯量和挠性参数分别在标称及拉偏状态下卫星姿态机动时的姿态误差与振动模态。结果表明:该方法可满足工程使用要求,简易地获取输入成型参数,设计绕欧拉轴近似最短路径的机动方式,能有效抑制附件的挠性振动,实现快速的姿态机动。
In order to reduce the influence of flexible vibration on attitude maneuvering time, a large flexible satellite with fast attitude maneuver is studied. The maneuver of input attitude shaping based on proportional-derivative (PD) control is studied. During the maneuvering process, the attachment’s flexible vibration is restrained directly. The dynamic equations were extended to the state space, and the equivalent vibration frequency and damping ratio of the system were solved by solving the eigenvalues of the state matrix to obtain the shape inputter. A simplified method to determine the parameters of input shaping frequency which can meet the engineering requirements is given. The PD controller with input molding is designed to realize the fast attitude maneuver of the Euler axis while effectively suppressing the vibration of the attachment. The error of the input formers was analyzed. The effects of ZVD, EI, ZVDD and EI-Twohump four kinds of input formers on the flexible vibration of a satellite’s solar array are simulated and analyzed, as well as the attitude of the inertial and flexural parameters when the satellite’s attitude is maneuvered Error and vibration modes. The results show that this method can meet the requirements of engineering application, easily obtain the input forming parameters, and design the maneuvering method of the approximate shortest path around the Euler axis, which can effectively suppress the flexible vibration of attachments and achieve rapid attitude maneuvering.