宇航学报

宇航学报 ›› 2018, Vol. 39 ›› Issue (6): 674-682.doi: 10.3873/j.issn.1000-1328.2018.06.010

• 制导、导航、控制与电子 • 上一篇    下一篇

空间站对日定向装置试验台的控制器设计与精度考核

贺云，张飞龙，刘明洋，徐志刚   

  1. 1. 中国科学院沈阳自动化研究所，沈阳 110016；2. 中国科学院大学，北京 100049
  • 收稿日期:2017-12-13 修回日期:2018-04-24 出版日期:2018-06-15 发布日期:2018-06-25

Controller Design and Accuracy Evaluation for the Space Station Sun Directional Device Test System

HE Yun, ZHANG Fei long, LIU Ming yang, XU Zhi gang   

  1. 1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016，China；
    2. University of Chinese Academy of Sciences , Beijing 100049，China
  • Received:2017-12-13 Revised:2018-04-24 Online:2018-06-15 Published:2018-06-25

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摘要：

针对太阳电池帆板大挠性、大惯量等特性，导致对对日定向装置施加的大幅值、高频响的变负载力矩难以模拟和模拟精度不足的问题，设计了以电动负载模拟器为核心装置的地面半物理仿真试验台。首先建立了电动负载模拟器（加载单元）模型，采用递推最小二乘法对加载单元各参数进行辨识，并分析各参数对加载单元响应特性的影响。提出一种超前校正与模糊自适应PID相结合的复合控制算法，该方法有效地拓宽了加载单元带宽、改善了力矩跟随性能和抑制了力矩误差。用不同信号对试验台响应速度、加载带宽和加载精度进行分析和考核。实验结果表明：该复合控制算法使加载力矩较好地复现了太阳电池帆板模型的期望输出力矩，为对日定向装置对太阳电池帆板的驱动性能考核实验模拟出较为精确的期望模型的负载（测试）力矩。

关键词: 对日定向装置, 半物理仿真, 复合控制, 电动负载模拟, 最小二乘辨识

Abstract:

To solve the problem that the variable load torque with large amplitude and high frequency imposed on the sun pointing device by the large flexibility and large inertia characteristics of the solar panels, it is difficult to simulate and the simulation accuracy is not enough. A ground semi-physical simulation test system is designed with the electric load simulator as the core device. First, the mechanism model of the motor driven load simulator (loading unit) is established. The parameters of the loading unit is identified by the recursive least square method with the influence of each parameter on the response characteristics of the loading unit is analyzed. A composite control algorithm combining the lead compensation with the fuzzy adaptive PID is proposed to the loading unit controller design. This effectively broadens the bandwidth of the loading unit with the improved torque following performance and the suppressed torque error. The response speed, loading bandwidth and loading accuracy of the test system are analyzed and evaluated by the different signals input. The experimental results show that the composite control algorithm makes the loading torque well realized the desire output torque of the solar panel model. The accurate loading (test) torque of the desire model is simulated for the driving performance evaluation exeperiment of the sun pointing device to the solar panels.

Key words: Sun pointing device, Semi physical simulation, Motor driven load simulator, Compound control, Least square method

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