摘要
本文针对柔性结构在轨组装任务背景,将自动飞船和待运送部件分别简化为中心刚体和柔性梁附件,研究自由漂浮中心刚体-柔性梁系统的动力学与控制问题.首先基于小变形和低转速假设,将梁用假设模态法离散,采用Lagrange方程导出系统动力学方程.继而设计一种带有应变反馈的PD控制律用于完成中心刚体的状态镇定以及柔性梁振动抑制.此外,本文还使用遗传算法对控制器中的参数进行多目标优化.最后,通过数值算例验证了所设计控制器的有效性.
For the application of automatically assembling flexible space structures,this paper studies the dynamic characteristic and control design of a free-floating hub-beam system,where the rigid hub and flexible beam are the simplified models of a spacecraft and a flexible element,respectively. Based on the assumption of small deformation and low motion speed,the beam is discretized through the assumed mode method. The dynamic formulation of the system is derived by using the Lagrange equation. A PD control law with strain feedback is then designed for simultaneously tracking the desired attitude angle and suppressing the vibration of the flexible beam.Moreover,the multi-objective genetic algorithm is applied to perform the multi-objective optimization for the controller parameters. Finally,the effectiveness of the controller is verified by numerical examples.
出处
《动力学与控制学报》
2017年第4期356-362,共7页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11372130
11290153)
高等学校全国优秀博士论文作者专项资金资助项目(201233)~~
关键词
中心刚体-柔性梁
刚柔耦合
遗传算法
多目标优化
应变反馈
flexible hub-beam
rigid-flexible coupling
genetic algorithm
multi-objective optimization
strain feedback
