宇航学报

宇航学报 ›› 2015, Vol. 36 ›› Issue (4): 438-445.doi: 10.3873/j.issn.1000-1328.2015.04.010

• 制导、导航与控制 • 上一篇    下一篇

空间挠性结构的Stewart平台主动基座振动控制

徐高楠，黄海，李伟鹏，马炜   

  1. 1．北京航空航天大学宇航学院，北京100191；2．中国空间技术研究院总体部，北京100094
  • 收稿日期:2014-03-14 修回日期:2014-05-06 出版日期:2015-04-15 发布日期:2015-04-25

Active Vibration Control of Space Flexible Structure Using Stewart Platform as Active Base

XU Gao nan，HUANG Hai，LI Wei peng，MA Wei   

  1. 1.School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China；
    2.Beijing Institute of Spacecraft System Engineering, Chinese Academy of Space Technology, Beijing 100094, China
  • Received:2014-03-14 Revised:2014-05-06 Online:2015-04-15 Published:2015-04-25

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摘要：

研究基于Stewart平台主动基座的挠性结构振动控制。首先,建立含Stewart平台主动基座的柔性梁刚柔耦合动力学模型；随后,在模态空间上分别针对挠性结构的一阶和二阶模态设计由线性扩张状态观测器(LESO)和PD控制器组成的自抗扰控制器(ADRC)；最后，基于独立模态控制(IMSC)中的模态滤波器从物理坐标中提取模态坐标，建立振动主动控制实验系统，基于模态空间的自抗扰控制方法完成挠性结构的前两阶模态振动主动控制实验。研究结果表明，利用Stewart平台作为主动基座，采用自抗扰控制方法实现挠性结构的振动抑制是一种高效的振动主动控制方法，在空间振动主动控制领域具有广阔的应用前景。

关键词: 挠性结构, Stewart平台, 主动振动控制, 自抗扰控制器

Abstract:

The vibration control of flexible structure with Stewart platform active base is studied. Firstly, a rigid-flexible coupling dynamics model of flexible beam with Stewart platform active base is established. And then, each active disturbance rejection controller (ADRC) mainly composed of a linear extended state observer (LESO) and a PD controller on the modal space is designed according to both first and second order vibration modes of the flexible structure. Finally, modal coordinates are obtained from physical coordinates by employing the modal filter of the independent modal space control(IMSC) the active vibration control experiment system is established and the first two order experiments based on ADRC of modal space for flexible beam are conducted. Experimental results show that the ADRC method using Stewart platform as active base is a very efficient approach to suppress the vibration, and has a promising application in space active vibration control field.

Key words: Flexible structure, Stewart platform, Active vibration control, Active disturbance rejection controller

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