基于PD控制的大挠性卫星输入成型姿态机动方法研究

Research on Input Shaping Attitude Maneuver Method for Large Flexible Satellite Based on PD Control

对有快速姿态机动要求的大挠性卫星,为减小挠性振动对姿态机动时间的影响,对基于比例微分(PD)控制的输入成型姿态机动方法进行了研究,提出用输入成型方法在快速机动过程中直接对附件的挠性振动进行抑制。将动力学方程扩展到状态空间,通过求解状态矩阵的特征值解出系统的等效振动频率与阻尼比,以获得成型输入器。给出了一种简化的且能满足工程使用的输入成型频率参数确定方法。设计了输入成型的PD控制器,实现欧拉轴快速姿态机动,同时有效抑制附件的振动。对输入成型器的误差进行了分析。仿真分析了ZVD,EI,ZVDD,EI-Twohump四种输入成型器对某卫星太阳阵挠性振动的抑制效果,以及惯量和挠性参数分别在标称及拉偏状态下卫星姿态机动时的姿态误差与振动模态。结果表明:该方法可满足工程使用要求,简易地获取输入成型参数,设计绕欧拉轴近似最短路径的机动方式,能有效抑制附件的挠性振动,实现快速的姿态机动。

For some large flexible satellites required fast attitude maneuver, an input shaping attitude maneuver method based on PD control was studied to reduce the effect of flexible vibration on attitude maneuver time in this paper, in which input shaping method was applied to suppress adjunct？s flexible vibration during fast attitude maneuver. The dynamic equation was extended to the state space. The equivalent vibration frequency and damping ratio of the system were solved by computing eigenvalue of the state matrix, so the input shaper was obtained. An input shaping frequency parameters determination method was designed, which was simple and met the requirement in engineering. The PD controller of input shaping was designed？ Which could realize fast attitude maneuver by Euler axis and reduce adjunct flexible vibration as well. The errors of input shaper were analyzed. The suppress effects of flexible vibration for solar array of some satellite using ZVD, El, ZVDD and EI-Twohump input shapers were analyzed by simulation. And the attitude error and vibration modal under nominal and deflection of inertia and flexible parameters in maneuvering were also discussed. It found that the method proposed could satisfy the engineering requirement. This method can satisfy engineering requirement, obtain input shaping parameters simply, design approximately the shortest maneuver route, restrain flexible vibration effectively, and complete fast attitude maneuver.