星载并联平台自抗扰振动控制研究

Auto⁃Disturbance⁃Rejection Vibration Control of Spaceborne Parallel Platform

在空间任务过程中为了减少振动对星载精密载荷的影响,需要在精密载荷和卫星本体的传递路径中加入隔振装置.本文旨在设计一种用于敏感载荷振动主动控制的六自由度并联平台.首先利用Newton-Euler法建立并联平台的动力学模型,然后基于自抗扰控制策略进行主动振动控制器的设计,接着对控制器的有效性进行数值仿真分析,并与PID(Proportion-Integration-Differentiation)控制算法作比较.结果表明,基于自抗扰控制策略的隔振系统能够有效抑制敏感载荷的振动,并且控制效果优于PID控制.此外当结构参数存在较大摄动范围时,该控制策略仍具有较强的鲁棒性.

In order to minimize the impact of vibration on the precision loads carried by satellites during the space missions,it is necessary to incorporate vibration isolation devices into the transfer paths connecting the loads and the satellite bodies.This paper aims at designing a 6-DOFs parallel platform for active vibration control of sensitive loads.Firstly,the Newton-Euler method is utilized to establish the dynamic model of the parallel platform.Subsequently,an active vibration controller is designed based on the active disturbance rejection control strategy.The effectiveness of the controller is then analyzed through numerical simulations and compared with that using the traditional Proportion-Integration-Differentiation(PID)control algorithm.The results demonstrate that the vibration isolation system based on the active disturbance rejection control strategy is capable of effectively suppressing vibrations in the sensitive loads,and its control performance surpasses that of the PID control.Moreover,the control strategy exhibits strong robustness even when the structural parameters undergo significant perturbations.