• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2012, Vol. 48 ›› Issue (21): 8-14.

• 论文 • 上一篇    下一篇

空间柔性伸杆机构振动抑制的半物理仿真试验

楚中毅;马静;李丹   

  1. 北京航空航天大学仪器科学与光电工程学院;北京航空航天大学惯性技术国家级重点实验室
  • 发布日期:2012-11-05

Semi-physical Simulation Experiments on Vibration Control of Flexible Space Manipulator

CHU Zhongyi;MA Jing;LI Dan   

  1. School of Instrumentation Science and Opto-electronics, Beihang University Science & Technology on Inertial Laboratory, Beihang University
  • Published:2012-11-05

PDF

298

摘要： 研究空间柔性伸杆机构的振动抑制问题，提出一种基于伸杆机构自适应指令整形(Adaptive input shaper, AIS)与航天器本体输出反馈控制相结合的复合控制策略，基于经验传递函数估计方法(Empirical transfer function estimate, ETFE)，建立最优指令整形器(Optimal arbitrary input shaper, OAIS)的自调整机制，得到改进的自适应指令整形器。以金字塔构型的单框架控制力矩陀螺簇(Single gimbal control moment gyros, SGCMGs)为本体执行机构，详细设计基于实时仿真机、PMAC实时运动控制板卡、SGCMGs等实物的半物理仿真试验平台。在考虑环境干扰力矩以及执行机构控制受限的情况下对控制方法进行半物理仿真试验验证。结果表明：与基于OAIS 及无指令整形前馈控制的复合控制方法相比，提出的控制方法可有效抑制伸杆机构的低频振动，实现航天器本体姿态的精确跟踪和伸杆机构的高精度指向控制。

关键词: 半物理仿真试验, 柔性伸杆机构, 振动抑制, 自适应指令整形器

Abstract: A scheme of adaptive input shaper (AIS) combined with output feedback controller is proposed to suppress the vibration of flexible space manipulator. AIS is obtained by optimal arbitrary input shaper (OAIS) with auto adjusting mechanism, which is deduced with the empirical transfer function estimate (ETFE) technique. Taking single gimbal control moment gyros (SGCMGs) with pyramid type configuration as body actuator, semi-physical simulation experimental platform is established based on real-time simulator, PMAC motion controller and SGCMGs. By considering the effect of environment disturbance and actuator limitation, semi-physical simulation experiments of the control scheme are implemented. The experiment results validate that the proposed scheme can realize high precision pointing control of manipulator, as well as accurate attitude stabilization of body spacecraft, compared with the OAIS and conventional control methods, the proposed scheme can suppress the residual vibration effectively.

Key words: Adaptive input shaper, Flexible space manipulator, Semi-physical simulation experiment, Vibration suppression

中图分类号: 

版权所有 © 2019 《机械工程学报》编辑部 | 京icp备05055788号-40