卫星Stewart隔振平台高可靠性设计及容错控制

High Reliability Design and Fault Tolerant Control of Satellite Stewart Vibration Isolation Platform

介绍了卫星Stewart隔振平台,此隔振平台由6根作动杆组成,可以隔离卫星本体的挠性振动和外部干扰,为有效载荷提供超静力学环境;分析了该Stewart隔振平台高可靠性构型设计,基于牛顿-欧拉法推导了雅克比矩阵,设计了正交解耦构型;分析了作动杆发生故障时的情况,并结合其动力学模型,重构解耦矩阵,实现了容错控制,提高了隔振平台的可靠性.在某卫星上进行了仿真实验,结果表明本文所提的解耦设计和容错控制方法是有效的.

The satellite Stewart vibration isolation platform （SVIP） was introduced. The SVIP consisting of six struts could isolate the flexible vibrations and external disturbances from the base body and supply ultra-quiet mechanical environment for the payload. The high reliability configuration of SVIP was analyzed, the Jacobian matrix was derived based on Newton-Euler theorem and the orthogonal decoupled configuration was designed. The stuck fault of the strut was taken into account and the decoupled matrix was reconstructed to tolerant the fault, and then the reliability of the SVIP was improved. Numerical simulations demonstrated that the proposed approach was efficient.