本文選題：主被動一體化隔振 + 壓電陶瓷作動器　； 參考：《哈爾濱工業(yè)大學(xué)》2017年博士論文

【摘要】：在現(xiàn)代航天工程領(lǐng)域中,航天器的系統(tǒng)組成越來越復(fù)雜,航天器在軌運(yùn)行時各部件,如動量輪、控制力矩陀螺、太陽帆板等正常工作引起的不可避免的振動不僅會造成航天器自身結(jié)構(gòu)的振動響應(yīng),也會干擾航天器敏感儀器設(shè)備正常工作,影響它們的精度和可靠性,導(dǎo)致測控導(dǎo)航、姿態(tài)指向和觀測瞄準(zhǔn)等重要指標(biāo)下降,甚至導(dǎo)致敏感儀器工作異�；蚴�,嚴(yán)重影響航天器機(jī)動性能、數(shù)據(jù)傳輸穩(wěn)定性,最終可能導(dǎo)致飛行任務(wù)失敗的嚴(yán)重后果。因此,本文結(jié)合國家自然基金項目及國家重點基礎(chǔ)研究發(fā)展計劃子課題,對航天器上敏感儀器設(shè)備的多自由度精密隔振問題進(jìn)行系統(tǒng)深入研究,提出了多維主被動一體化隔振的設(shè)計方法,研制了適合特殊空間環(huán)境的主被動一體化作動器,并設(shè)計了一種基于主被動一體化作動器的隔振平臺,建立了面向敏感有效載荷的多自由度精密隔振策略,減小振動對敏感儀器正常工作的影響,為其提供安靜的力學(xué)環(huán)境。針對傳統(tǒng)被動隔振與主動隔振各自的優(yōu)缺點,提出了一種基于壓電陶瓷和粘彈性材料的主被動一體化作動器。該作動器具有結(jié)構(gòu)緊湊,尺寸小和重量輕的優(yōu)點,同時細(xì)桿狀外型有利于與航天器結(jié)構(gòu)集成設(shè)計,減小運(yùn)動干涉。根據(jù)其動力學(xué)特性需求,完成了作動器原型的設(shè)計與實驗測試,并搭建實驗系統(tǒng)完成了性能實驗。實驗結(jié)果表明提出的基于壓電陶瓷的主被動一體化作動器在低頻段和高頻段都具有較好的隔振效果,其中低頻段隔振和諧振峰值的抑制主要通過主動隔振部分實現(xiàn),而高頻段的隔振功能由被動部分承擔(dān)。在主動部分出錯或完全失效的情況下,被動部分仍能夠正常工作,此時可以獲得不差于單純采用被動隔振器的隔振效果,客觀提高了系統(tǒng)的可靠性。提出的主被動一體化作動器采用通過一定工藝疊合而成的壓電陶瓷堆,它在輸出位移與驅(qū)動電壓之間存在多值對應(yīng)的遲滯現(xiàn)象,是智能材料的固有特性。這種遲滯將限制主被動一體化作動器的響應(yīng)速度及控制精度。針對這一問題,基于Bouc-Wen模型建立了能描述基于壓電陶瓷的主被動一體化作動器遲滯特性的數(shù)學(xué)模型,并提出了相應(yīng)參數(shù)辨識方法,通過實驗驗證遲滯模型及參數(shù)辨識方法的有效性。提出了兩種基于該遲滯數(shù)學(xué)模型的線性化控制方法,分別為前饋補(bǔ)償和前饋補(bǔ)償-PI反饋復(fù)合控制,仿真分析驗證了兩種線性化控制方法的有效性,結(jié)果表明,兩種方法均能實現(xiàn)主被動一體化作動器的線性化控制,復(fù)合控制的線性化效果優(yōu)于前饋控制。主被動一體化作動器的線性化控制為其應(yīng)用于多自由度隔振平臺,完成振動主動實時控制奠定基礎(chǔ)。為實現(xiàn)敏感有效載荷的六自由度隔振,提出了使用基于壓電陶瓷的主被動一體化作動器為支撐桿件,以正交結(jié)構(gòu)為原型的兩桿正交隔振模塊。由于航天器敏感有效載荷受到的擾動振幅較小,且基于壓電陶瓷的主被動一體化作動器輸出量程為微米級,因此鉸鏈間隙影響被放大。針對此種情況采用一種無間隙式球鉸,并應(yīng)用于正交隔振模塊�；谠撜桓粽衲K,針對質(zhì)量大、直徑大、安裝空間受限、直徑與安裝高度比極大的航天器敏感有效載荷,設(shè)計了一種三個正交隔振模塊組成的六維正交隔振平臺,基于拉格朗日方程建立所設(shè)計的六維正交隔振平臺的動力學(xué)方程,為后續(xù)對六維正交隔振平臺的動力學(xué)特性分析做準(zhǔn)備�；诮⒌牟捎弥鞅粍右惑w化作動器的六維隔振平臺的動力學(xué)方程,考慮系統(tǒng)存在的非結(jié)構(gòu)不確定性,如動力學(xué)建模時的簡化處理、模型誤差等,設(shè)計了魯棒H∞控制器,保證隔振系統(tǒng)在不確定因素存在時依然有良好的隔振性能。針對動力學(xué)模型中存在的結(jié)構(gòu)不確定性,建立了含有剛度、阻尼不確定的參數(shù)攝動模型,提出基于μ綜合理論的魯棒控制器,大大降低H∞控制器對于結(jié)構(gòu)不確定性模型控制的保守性。對控制器進(jìn)行仿真分析,結(jié)果表明采用魯棒控制的六維正交隔振平臺對于各種形式的激勵信號均能有效衰減,有效隔振頻帶寬10Hz~+∞范圍,能夠完全消除一階諧振峰值,且隨著激勵頻率增大,衰減效果增強(qiáng)。為驗證理論分析的有效性,進(jìn)行了六維正交隔振平臺隔振性能實驗。針對敏感有效載荷各項性能指標(biāo)要求,設(shè)計并研制有效載荷模擬件。完成實驗樣機(jī)研制及機(jī)械系統(tǒng)搭建,基于快速控制原型技術(shù),建立了隔振平臺實時控制系統(tǒng),完成了硬件及軟件調(diào)試,以豎直方向信號為激勵信號,完成隔振性能測試。實驗結(jié)果表明,主被動一體化控制下的六維隔振平臺能夠在18Hz~+∞范圍內(nèi),有效衰減振動,能夠完全衰減系統(tǒng)一階諧振峰值。該實驗進(jìn)一步驗證基于壓電陶瓷的主被動一體化六維正交隔振平臺能夠提高整個系統(tǒng)的穩(wěn)定性和可靠性、降低能耗,即使主動控制環(huán)節(jié)失效,隔振平臺自身被動結(jié)構(gòu)仍具有一定的隔振能力。
[Abstract]:In the field of modern space engineering, the system composition of the spacecraft is becoming more and more complex. The inevitable vibration caused by the normal work of the components, such as the momentum wheel, the control moment gyro, the solar panel and other normal work, will not only cause the vibration response of the spacecraft itself, but also interfere with the normal work of the spacecraft's sensitive instrument and equipment. Their accuracy and reliability are affected by the reduction of important indicators such as measurement and control navigation, attitude pointing and observation aiming, and even the abnormal or failure of the sensitive instruments, which seriously affect the maneuverability of the spacecraft, the stability of the data transmission, and the serious consequences of the failure of the flight mission. Therefore, this paper combines the national natural fund project. The problem of multi degree of freedom and precision vibration isolation of sensitive instrument and equipment on spacecraft is systematically studied, and the design method of multi-dimensional and passive integrated vibration isolation is proposed. A passive and integrated actuator suitable for special space environment is developed, and a kind of one based on the main and passive integration is designed. Based on the vibration isolation platform of the actuator, a multi degree of freedom precision vibration isolation strategy for sensitive payload is established to reduce the effect of vibration on the normal work of the sensitive instrument and provide a quiet mechanical environment. In view of the advantages and disadvantages of the traditional passive vibration isolation and active vibration isolation, a kind of passive and passive materials based on the main and passive materials of piezoelectric ceramics and viscoelastic materials is proposed. The actuator has the advantages of compact structure, small size and light weight. At the same time, the thin rod shape is advantageous to the integrated design of the spacecraft structure and reduces the motion interference. According to its dynamic characteristics, the design and experimental test of the actuator prototype are completed, and the experimental system has been set up to complete the performance experiment. The experimental result table is completed. The active and passive integrated actuator based on piezoelectric ceramics has good vibration isolation effect in low frequency and high frequency segments, in which the suppression of the vibration isolation and the peak value of the low frequency section is mainly realized by active vibration isolation, while the vibration isolation function of the high frequency section is borne by the passive part. The dynamic part can still work normally. At this time, the vibration isolation effect of the passive vibration isolator can be obtained, and the reliability of the system is improved objectively. The proposed passive integrated actuator adopts a piezoelectric ceramic stack formed by a certain process. It has a hysteresis between the output displacement and the driving voltage. It is an inherent characteristic of intelligent materials. This hysteresis will limit the response speed and control precision of the passive and passive integrated actuator. Based on the Bouc-Wen model, a mathematical model which can describe the hysteresis characteristics of the active passive integrated actuator based on the piezoelectric ceramics is established, and the corresponding parameter identification method is proposed. The experimental verification is carried out by the experiment. The validity of the hysteresis model and the parameter identification method. Two linearized control methods based on this hysteresis model are proposed, which are feedforward compensation and feedforward compensation -PI feedback compound control respectively. The effectiveness of the two linearized control methods is verified by simulation analysis. The results show that the two methods can achieve the active and passive integrated actuator. Linearization control, the linearization effect of the compound control is better than the feedforward control. The linearization control of the active and passive integrated actuator is the basis for its application to the multi degree of freedom vibration isolation platform and the active real time vibration control of the vibration. In order to realize the six degree of freedom vibration isolation of the sensitive payload, the application of the active and passive integration based on the piezoelectric ceramic is proposed. A two bar orthogonal vibration isolation module with an orthogonal structure as the support bar. The disturbance amplitude of the sensitive payload of the spacecraft is smaller and the output range of the piezoelectric ceramic is based on the main and passive integration of the actuator and the output range of the actuator is micron, so the effect of the hinge gap is amplified. Based on the orthogonal vibration isolation module, based on the orthogonal vibration isolation module, a six dimension orthogonal vibration isolation platform composed of three orthogonal vibration isolation modules is designed for the large mass, large diameter, limited space of installation space and high sensitivity to the installation height of the spacecraft. Based on the Lagrange equation, the designed six dimensional orthogonal vibration isolation is established. The dynamic equation of the platform is prepared for the analysis of the dynamic characteristics of the six dimensional orthogonal vibration isolation platform. Based on the dynamic equations of the six dimensional vibration isolation platform based on the active and passive integrated actuator, the robust H infinity control is designed, considering the unstructured uncertainty of the system, such as the simplified treatment of the dynamic modeling, the model error and so on. It ensures that the vibration isolation system still has good vibration isolation performance when the uncertain factors exist. According to the structural uncertainty in the dynamic model, a parameter perturbation model with stiffness and damping uncertainty is established, and a robust controller based on the muon synthesis theory is proposed, which greatly reduces the H infinity controller for structural uncertainty model control. The simulation analysis of the controller shows that the six dimensional orthogonal vibration isolation platform with robust control can effectively attenuate all kinds of excitation signals and effectively eliminate the first order resonance peak in the range of 10Hz~+ infinity of vibration frequency bandwidth, and the attenuation effect is enhanced with the increase of the frequency of excitation. The effectiveness of the six dimensional orthogonal vibration isolation platform isolation performance experiment. Aiming at the requirements of the sensitive payload performance requirements, design and develop the payload simulator. Complete the experimental prototype development and mechanical system construction. Based on the rapid control prototype technology, the Ge Zhenping platform real-time control system is established, and the hardware and software debugging are completed. The vibration isolation performance test is completed with the vertical direction signal as the excitation signal. The experimental results show that the six dimensional vibration isolation platform under the integrated control of the main and passive control can effectively attenuate the vibration and completely attenuate the first harmonic peak of the system in the 18Hz~+ infinity range. This experiment further verifies the six dimensional orthogonal isolation based on the passive integration of the piezoelectric ceramics. The vibration platform can improve the stability and reliability of the whole system, reduce the energy consumption. Even if the active control link fails, the passive structure of the vibration isolation platform still has a certain vibration isolation capability.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：V414;V441

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