航天伺服机构鲁棒控制与机电液联合仿真

Robust control and mechanical-electrical-hydraulic joint simulation of spacecraft servo mechanism

航天伺服机构设计对于航天器的控制而言具有重要作用,其控制算法的研究与仿真模拟平台的搭建具有重要的实用价值。针对航天伺服机构的机械、电、液压等环节完成仿真建模,完成了伺服机构的整体模型建立。在ADAMS中进行了伺服机构的机械结构搭建,使用AMESim完成了液压模块的搭建,并采用H∞理论设计了鲁棒控制器,利用Matlab工具箱完成了控制器的构建。结合ADAMS、AMESim的动力学模型,联合Matlab控制器模型,实现了各部分模块的联合仿真。通过联合仿真技术完成了对实物系统更加真实的模拟,并且更直观地展现了实验结果,对于实际航天伺服机构系统的设计和搭建而言具有重要的指导意义。

The design of spacecraft servo mechanism plays an important role in the control of the spacecraft.The research of control algorithm and the construction of simulation platform have important practical value.This paper modelles and simulates the mechanical,electrical,hydraulic parts of the aerospace servo mechanism.The overall model of the whole servo system is established.The mechanical structure of the servo mechanism is built in ADAMS and the hydraulic module is built by AMESim.Based on H∞theory,the robust controller is built with Matlab toolbox.Combined with the dynamics model of ADAMS and AMESim,as well as the Matlab controller model,the joint simulation of each module is realized.Through the joint simulation technology,the simulation of physical system is more realistic,and the experimental results are also displayed more intuitively.This simulation has a good guiding significance for the design and construction of actual spacecraft servo mechanism system.