空间站科学实验平台并联主动减振系统动力学建模研究

Dynamic Modeling on the Parallel Active Vibration Isolation System of Space Station Science Experimental Rack

使用凯恩方法建立空间柜并联主动减振系统动力学模型,并对模型进行线性化,得到模型的状态空间形式。对空间微重力环境进行研究,设计并联主动减振机构对空间实验柜进行减振。空间微重力环境具有振动频率低、振动幅度小、随机振动强的特点,并联主动减振系统可以良好抑制振动干扰。并联主动减振机构由空间实验柜、直线型音圈电机、推杆、传感器组成,空间实验柜为减振对象。推杆通过柔性铰链将空间实验柜与空间站舱体连接到一起。控制器接受由传感器采集的空间实验柜加速度与相对位移信号,并驱动直线型音圈电机抵消干扰。最后,对系统线性化的动力学模型进行仿真,并与非线性动力学模型的仿真进行对比,对模型进行了验证。

A linear dynamic model for the parallel active vibration isolation system of space station rack based on Kane＇s model is presented.The state-space model is also obtained,which is basd on the space micro gravity enviroment.The parallel active vibration isolation system is designed to isolate vibration for the space station rack.The parallel active vibration isolation system restrain the vibration disturbance whose feature is low frequency,micro amptitude and random vibration.The parallel active vibration isolation system is composed of a space station rack,linear voice coil motors,limbs and sensors.Each limb connects the space station rack to the space station structure with flexure hinges.Controller generates acceleration and relative distance signal gathered by sensors then drive the linear voice coil motors to anti the disturbance.Finally,a simulation of the linear dynamic model is illustrated and the model is validated by comparison to the result of nonlinear model simulation.