磁悬浮微重力隔振系统自抗扰主动控制研究

Research on Active Control with ADRC of Maglev Microgravity Vibration Isolation System

空间站中精密仪器、敏感设备及微重力实验极易受太空微振动的干扰,非接触式磁悬浮微重力隔振系统是解决微振动的重要手段之一,主动控制对其隔振效果至关重要,是研究的核心。首先,基于磁悬浮微重力隔振平台,建立系统六自由度姿态解耦模型,构建具有外激励的耦合动力学模型;然后,提出并设计基于位移控制的“观测+补偿”自抗扰主动控制器,跟踪目标信号,观测系统的总干扰并实时补偿;其次,建立主动控制的仿真模型,分析主动控制参数对磁悬浮微重力隔振系统的影响规律;最后,对主动控制系统的性能进行仿真分析。结果表明,该微重力主动控制器具有良好的一致性和隔振性能,为磁悬浮微重力隔振系统主动控制的研究提供了一定的技术和理论支持。

Precision instruments,sensitive equipment and microgravity experiments in space are vulnerable to space microvibration.The non-contact maglev microgravity vibration isolation system is one of the important and effective methods to solve micro vibration.Active control,which is essential to the vibration isolation effect of the system,is the core of research.Firstly,the decoupling model of 6-DOF attitude of the system is built based on the maglev microgravity vibration isolation platform,and the coupling dynamics model under external excitation is established.Then,the active disturbance rejection controller with“observation+compensation”based on displacement control is proposed and designed to track the target signal,observe the total interference of the system and compensate in real-time.Secondly,the simulation model of active control is established,and the influence of active control parameters on the maglev microgravity vibration isolation system is analyzed.Finally,the performance of the active control system is analyzed by simulation.The results show that the control system in this paper has good consistency and performance of vibration isolation,which provides certain technical and theoretical supports for the research of active control of maglev microgravity vibration isolation system.