本文選題：智能桁架衛(wèi)星　切入點(diǎn)：振動(dòng)抑制　出處：《哈爾濱工業(yè)大學(xué)》2016年碩士論文

【摘要】：衛(wèi)星結(jié)構(gòu)的大型化和復(fù)雜化已經(jīng)成為當(dāng)今這個(gè)航天任務(wù)多樣化的時(shí)代不可避免的發(fā)展趨勢(shì)。為了盡量延長(zhǎng)衛(wèi)星在軌時(shí)間并且高效完成任務(wù)需求,各類(lèi)功能附件的安裝十分必要,大型撓性桁架結(jié)構(gòu)的應(yīng)用也愈加廣泛。對(duì)于在軌運(yùn)行的桁架衛(wèi)星而言,桁架結(jié)構(gòu)受到環(huán)境干擾產(chǎn)生的振動(dòng)響應(yīng)以及桁架與衛(wèi)星本體之間的動(dòng)力學(xué)強(qiáng)耦合效應(yīng)一直以來(lái)都是亟需解決的問(wèn)題。由于目前較少有文獻(xiàn)專(zhuān)門(mén)針對(duì)帶有智能桁架結(jié)構(gòu)的撓性衛(wèi)星的姿態(tài)控制開(kāi)展研究,因此本文針對(duì)智能桁架衛(wèi)星的振動(dòng)抑制和姿態(tài)穩(wěn)定控制問(wèn)題展開(kāi)了如下幾個(gè)方面的研究工作:首先介紹了衛(wèi)星姿態(tài)模型建立過(guò)程中需要用到的幾種坐標(biāo)系,然后分別建立了忽略剛?cè)狁詈闲?yīng)的智能桁架結(jié)構(gòu)的有限元模型、智能桁架衛(wèi)星的運(yùn)動(dòng)學(xué)模型、桁架相對(duì)衛(wèi)星本體固定的多智能桁架撓性衛(wèi)星動(dòng)力學(xué)模型。針對(duì)智能桁架衛(wèi)星的撓性振動(dòng)抑制問(wèn)題,考慮到振動(dòng)響應(yīng)的根源在于智能桁架結(jié)構(gòu)的撓性振動(dòng),將其等效為桁架減振問(wèn)題,設(shè)計(jì)了兩種基于獨(dú)立模態(tài)空間控制理論的有限時(shí)間振動(dòng)抑制控制器。首先,在忽略衛(wèi)星本體與桁架間剛?cè)狁詈闲?yīng)的條件下,通過(guò)模態(tài)濾波器對(duì)系統(tǒng)狀態(tài)的坐標(biāo)變換和擴(kuò)張狀態(tài)觀測(cè)器對(duì)系統(tǒng)總干擾的實(shí)時(shí)估計(jì),基于“動(dòng)態(tài)補(bǔ)償線(xiàn)性化”思想簡(jiǎn)化模型并設(shè)計(jì)了基于齊次方法的有限時(shí)間控制器。進(jìn)一步的,為增強(qiáng)系統(tǒng)對(duì)參數(shù)攝動(dòng)及擾動(dòng)具有的強(qiáng)魯棒性,針對(duì)帶有未知上界干擾情況,設(shè)計(jì)了雙冪次趨近律形式的終端滑模自適應(yīng)有限時(shí)間控制器。仿真結(jié)果表明,所設(shè)計(jì)的兩種控制器都能夠在有限時(shí)間內(nèi)有效抑制智能桁架衛(wèi)星的振動(dòng)響應(yīng),終端滑模控制方法具有控制精度高、撓性振蕩收斂快、魯棒性強(qiáng)等特點(diǎn)。針對(duì)智能桁架衛(wèi)星在存在外干擾的空間運(yùn)行時(shí)的姿控問(wèn)題,考慮智能桁架結(jié)構(gòu)相對(duì)衛(wèi)星本體固定情況,設(shè)計(jì)了兩種不同的姿態(tài)穩(wěn)定控制器。首先,通過(guò)非線(xiàn)性干擾觀測(cè)器給出了未知干擾的估計(jì)信息,并對(duì)控制器設(shè)計(jì)時(shí)需要使用的桁架模態(tài)加速度信息及衛(wèi)星角加速度信息設(shè)計(jì)了超螺旋觀測(cè)器。接下來(lái),通過(guò)加入剛?cè)狁詈享?xiàng)對(duì)上一章中設(shè)計(jì)的終端滑模有限時(shí)間控制器進(jìn)行了改造。最后,為了實(shí)現(xiàn)智能桁架衛(wèi)星的姿態(tài)穩(wěn)定控制,分別設(shè)計(jì)了不依賴(lài)精確模型的非線(xiàn)性預(yù)測(cè)控制器和具有有限時(shí)間收斂特性的終端滑模控制器。仿真結(jié)果表明,在上述兩種控制律的作用下,智能桁架衛(wèi)星的姿態(tài)最終都趨于穩(wěn)定,模態(tài)振動(dòng)響應(yīng)得到了有效抑制。
[Abstract]:The large-scale and complicated structure of satellites has become an inevitable trend of development in the era of diversification of space missions. In order to prolong the time of satellites in orbit as far as possible and to fulfill the requirements of missions efficiently, it is necessary to install various functional accessories. Large flexible truss structures are also widely used. For truss satellites in orbit, The vibration response of truss structure caused by environmental disturbance and the dynamic strong coupling effect between truss and satellite body have always been the problems that need to be solved. Research on attitude control of flexible satellite with structure, Therefore, in this paper, the vibration suppression and attitude stability control of intelligent truss satellites are studied as follows: firstly, several kinds of coordinate systems are introduced in the process of satellite attitude model establishment. Then the finite element model of intelligent truss structure and the kinematics model of intelligent truss satellite are established respectively. Dynamic model of flexible multi-intelligent truss satellite with fixed truss relative to satellite body. In view of the problem of flexible vibration suppression of intelligent truss satellite, it is considered that the root of vibration response lies in the flexible vibration of intelligent truss structure. Two kinds of finite time vibration suppression controllers based on the independent modal space control theory are designed. Firstly, the rigid-flexible coupling effect between the satellite body and the truss is neglected. Through the coordinate transformation of the system state and the real-time estimation of the total disturbance of the system by the extended state observer, the modal filter is used to estimate the total disturbance of the system. Based on the idea of "dynamic compensation linearization", this paper simplifies the model and designs a finite time controller based on homogeneous method. Furthermore, in order to enhance the strong robustness of the system to parameter perturbation and perturbation, the system with unknown upper bound disturbance is proposed. A terminal sliding mode adaptive finite time controller in the form of double power approach law is designed. The simulation results show that the two controllers can effectively suppress the vibration response of intelligent truss satellite in finite time. The terminal sliding mode control method has the characteristics of high control precision, fast convergence of flexible oscillation and strong robustness. Aiming at the attitude control problem of intelligent truss satellite in space with external interference, the fixed case of intelligent truss structure relative to satellite body is considered. Two different attitude stabilization controllers are designed. Firstly, the unknown disturbance estimation information is given by nonlinear disturbance observer. The superhelix observer is designed for the truss modal acceleration information and the satellite angular acceleration information which need to be used in the controller design. The terminal sliding mode finite time controller designed in the previous chapter is modified by adding rigid-flexible coupling term. Finally, in order to realize the attitude stability control of intelligent truss satellite, The nonlinear predictive controller independent of the exact model and the terminal sliding mode controller with finite time convergence are designed, respectively. The simulation results show that under the above two control laws, Finally, the attitude of intelligent truss satellite tends to be stable, and the modal vibration response is effectively suppressed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：V448.2
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本文編號(hào)：1659525