宇航学报 ›› 2012, Vol. 33 ›› Issue (9): 1195-1202.doi: 10.3873/j.issn.1000-1328.2012.09.002

• 飞行器设计与力学 • 上一篇    下一篇

柔性航天器高精度隔振与定向研究

王萍萍, 刘磊   

  1. (哈尔滨工业大学航天学院,哈尔滨 150001)
  • 收稿日期:2011-06-01 修回日期:2012-06-18 出版日期:2012-09-15 发布日期:2012-09-10
  • 基金资助:
    收稿日期:20110601;
    \ 修回日期:20120618

Research on High Accuracy Pointing of the Flexible Spacecraft with Stewart Platform

WANG Pingping, LIU Lei   

  1. (Harbin institute of Technology, Harbin 150001, China)
  • Received:2011-06-01 Revised:2012-06-18 Online:2012-09-15 Published:2012-09-10

摘要: 随着大型航天器柔性越来越大,结构越加复杂,导致低频柔性模态密集,但同时需要极高的定向精度及姿态稳定度, 这就对航天器姿态控制系统提出了更高的要求。本文采用拉格朗日法建立了柔性航天器姿态轨道耦合动力学模型,并设计了大角度机动航天器的姿态控制器。Lyapunov定理给出闭环系统的稳定性,在0.03Nm均方根的白噪声扰动下,大角度机动姿态角误差小于0.02°,均方根误差0.003°, 为了抑制姿态抖振,设计了复合控制器,采用Stewart平台对敏感载荷局部高精度主动隔振和定向,局部控制后敏感载荷的定向误差小于0.0001°,均方根误差0.000036°。鲁棒 Η ∞ 控制器对Stewart平台主动镇定时,姿态抖振小于0.000002°,均方根误差小于 0.0000008° ,姿态稳定度优于0.00001°/s。

关键词: 柔性航天器, Stewart 平台, 主动隔振, 复合控制, 精确定向

Abstract: In this paper, the coupled dynamics model of the flexible spacecraft is derived by using Lagrange method, and attitude controller is designed for a large angle maneuvering spacecraft. The stability of closed loop is given by Lyapunov theorem. The error of attitude angle is less than 0.02° and the RMS error is 0.003° at white noise random disturbance of RMS of 0.03Nm. Then, Stewart platform is used for fine active isolation and pointing of partial sensitive payloads. To suppress jitter, a composite controller is designed. The pointing error is less than 0.0001° with 0.000036°of RMS, for the measurement noise with 0.000036° of RMS. Finally, Stewart platform using robust H∞ controller is used to stabilize the partial sensitive payload. The attitude jitter is less than 0.000002° with 0.0000008°of RMS and the attitude stability is better than 0.00001°/s.

Key words: Flexible spacecraft, Stewart platform, Active isolation, Composite control, High accuracy pointing

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