带柔性伸杆小卫星振动控制的半物理仿真实验

Semi-Physical Simulation on Vibration Control of Small Satellite with Flexible Manipulators

在空间探测任务中,为了避免卫星平台剩磁对空间待测信息的干扰影响,需采用轻质的伸杆机构支撑各类探测载荷远离卫星本体,而伸杆的弹性振动不可避免地会耦合作用到卫星本体,从而降低卫星本体的姿态控制精度和稳定度。针对此问题,提出了一种基于伸杆最优指令整形结合本体自适应扰动抑制滤波器的复合振动控制策略,即采用指令整形技术抑制柔性伸杆的弹性振动,同时设计自适应扰动抑制滤波器进一步抵消柔性伸杆残余振动对本体的干扰影响,最后在搭建的半物理仿真实验平台上对控制方法进行了实验验证。结果表明:此方法在有效抑制柔性伸杆残余振动的基础上,通过干扰抵消和抑制的控制策略可显著提高此类航天器的姿态控制精度和稳定度。

In order to avoid the disturbance caused by the remanence of the satellite platform in space detection missions,lightweight flexible manipulators are applied to keep different payloads away from the satellite platform itself.Because of the coupling between the flexible manipulator and the satellite platform,elastic vibration of the manipulator will reduce accuracy and stability of satellite attitude control.To solve the problem,a vibration control strategy for combining Optimal Input Shaping（OIS） with Adaptive Disturbance Rejection Filter（ADRF） is developed.The OIS is applied to suppress vibration of the flexible manipulators,and ADRF is designed to further offset to the disturbance caused by residual vibration of manipulators.Finally,the control method is validated in an established semi-physical simulation experimental platform.Experiment results show that the proposed control method could improve attitude control accuracy greatly through disturbance rejection and vibration suppression.