超低频柔性负载伺服控制系统的半物理试验方法

Semi-physical test method of ultra-low frequency flexible load servo control system

以超低频柔性负载伺服驱动控制系统的地面试验方法为研究对象,设计半物理试验系统,其中柔性负载为数学模型,驱动装置及其控制器为执行机构,控制软件为试验对象.具体以空间站对日跟踪装置的地面驱动控制系统调试为需求牵引,设计半物理实时闭环加载试验系统,推导大柔性太阳电池翼动力学模型,依据实时采集的对日跟踪装置运动信息,作为动力学模型输入,实时输出加载力矩值;控制闭环加载系统作用在对日跟踪装置输出端,实现动态反馈加载,并开展典型工况的驱动控制性能测试.分析对日跟踪装置的运行速度、太阳电池翼模态坐标、动态负载力矩、安装面扰动力矩等试验数据,评估伺服系统控制性能,证明半物理试验方法在空间站太阳电池翼伺服驱动控制系统设计中的有效性。该试验方法也可拓展应用于大型微波天线、空间太阳能电站、太阳帆等空间柔性伺服系统的地面试验.

To study the ground test method of ultra-low frequency flexible load servo drive control system, a semi-physical test system is designed. The test system includes a flexible dynamics model, drive controller and control software. Based on the re-quirement of the control system of day tracking device by China Space Station (CSS), the semi-physical real-time closed-loop loading test system is designed and the dynamic model of the flexible wing solar cell is deduced. According to the collected tracking information of the tracking device, the load torque value is calculated in real time, and the actuator is controlled to achieve dynamic feedback. The experimental data of the running speed,solar cell wing modal coordinates, dynamic load moment and mounting disturbance torque are analyzed to evaluate the control performance of the servo control system. It is proved that the semi-physical test method is effectively applied in the space station solar cell wing servo drive control system ground test. The test method can also be extended to the ground test of space flexible servo system applied to large microwave antenna,space solar power station, solar sail and so on.