摘要
针对步进电机的输出力矩特征以及柔性负载的低频振动特性,提出一种抑制柔性负载振动的控制策略。推导了步进电机驱动柔性负载的动力学模型,分析了输入成形法抑制振动的原理并对其进行了扩展,由此产生的步进电机控制逻辑可以有效抑制柔性负载的低频振动。以数据中继卫星的单址天线回扫模式进行了数学仿真,结果表明,提出的控制策略有效且对系统的参数摄动具有一定的鲁棒性。
Considering nonlinearity of step motor＇s output torques and low frequency vibration characteristics of flexible payload, a method for designing control command of step motor is proposed to suppress the residual vibration in this paper. The dynamics model of step motor driving flexible load is derived, indicating proper step logic design is a feasible solution of vibration suppression . Furthermore, as a feed forward control strategy of vibration suppression, the input shaping technique is analyzed and its modification for flexible payload driven by step motor is put forward. Simulation results validate that this method can be used to generate step logic for single access antenna slew mode.
出处
《空间控制技术与应用》
2008年第6期34-38,共5页
Aerospace Control and Application
关键词
步进电机
柔性负载
步进逻辑
振动抑制
step motor
flexible payload
step logic
vibration suppression
