单边饱和跟腱控制器结构振动控制实验研究

Experimental research on structure vibration control with unilateral and saturating tendon

两个电机跟腱控制器被用于一中心刚体和两个对称太阳能帆板的卫星模型振动控制中．跟腱一端安装在柔性帆板的自由端,另一端与驱动电机相连,安装在中心刚体上．针对无预紧力跟腱的单边饱和特点,采用了一种分段性能指标代替原有的二次型性能指标的最优控制方法．该方法将跟腱的单边饱和特性考虑在内并以合适的抑制速度对结构振动进行控制．卫星模型悬浮在4 m×1．7 m的气浮台上,以此模拟太空二维无重力环境．控制率是通过ERA(eigensystem realization algorithm)算法辨识出的系统动力学模型进行设计,并对各种激励下的模型振动进行控制．实验验证了该最优控制率和跟腱控制方式能有效地控制各种干扰下引起的卫星模型振动．

Two actuators consisting of motor and tendon, are utilized in the vibration control of a satellite model with a center rigid body and two symmetric flexible appendages. The actuating tendons driven by the motors mounted on the center rigid body are installed on the free ends of the flexible appendages. Because the driving motor has limited torque and the non-preloaded tendon can only provide unilateral control force, the actuator has both saturating and unilateral nonlinear characters. According to the control force constraint of the actuator, a nonlinear optimal control law is introduced by a piecewise cost function method. Finally, the satellite model control experiment is carried out on a 1. 7 m×4 m pneumatic suspension table, which simulates the free-free state of the satellite in space. The satellite model is identified by eigensystem realization algorithm, and the proposed nonlinear optimal control method is applied to attenuate the appendage vibration. The experimental result demonstrates the effectiveness of the proposed method for the suppression of the satellite model vibration.