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A rigid-flexible system attitude control method based on vibration compensation and state feedback

A rigid-flexible system and state feedback technology, applied in attitude control and other directions, can solve problems such as impact, achieve the effects of reducing impact, achieving flexible vibration suppression, and good steady-state performance indicators

Active Publication Date: 2017-09-29
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0006] The technical problem of the present invention is: to overcome the deficiencies of the prior art, to propose a rigid-flexible system attitude control method based on vibration compensation and state feedback, and to solve the problem of using the dynamic measurement information of flexible vibration in the attitude controller of the central rigid body Problems with Attitude Control Compensating for Vibration Effects

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  • A rigid-flexible system attitude control method based on vibration compensation and state feedback
  • A rigid-flexible system attitude control method based on vibration compensation and state feedback
  • A rigid-flexible system attitude control method based on vibration compensation and state feedback

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[0042] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0043] Such as figure 1 Shown is a controlled rigid-flexible system that includes a central rigid body and a flexible attachment that includes one or more cantilever beams. The controlled rigid-flexible system can rotate in a plane as a central rigid body with one or more cantilever beams , the dynamic equation of the controlled rigid-flexible system is:

[0044]

[0045]

[0046] v(0,t)=v l (0,t)=v ll (L,t)=v lll (L,t)=0 (3)

[0047] Equation (1) is the attitude dynamics equation, Equation (2) is the bending vibration equation of the cantilever beam, Equation (3) is the boundary condition, ρ, A, L, R are the cross-sectional density, cross-sectional area, and length of the flexible cantilever beam, respectively , the distance between the connection point of the cantilever beam and the central rigid body relative to the center of ma...

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Abstract

Provided is a rigid-flexible system attitude control method based on vibration compensation and state feedback. According to the method, dynamic measuring information of flexible vibration is directly employed, compensation and feedback control of vibration influence is performed in an attitude controller of a central rigid body, and actuators do not need to be arranged on flexible accessories. Conventional PID control is difficult to adapt to the condition of inaccurate parameters or changing parameters of controlled objects, and general adaptive control has internal conflicts between the ensuring of the steady-state performance and the dependence on continuous excitation. According to the method, the state feedback control parameters change with the change of estimation states, good steady-state performance indexes can be maintained by variable system and environment, and the method is especially applicable to attitude control of satellites with large flexible influence and high-stability performance index.

Description

technical field [0001] The invention belongs to the field of attitude control of spacecraft, and relates to an attitude control method of a rigid-flexible system based on vibration compensation and state feedback. Background technique [0002] There are two main research directions for the control of the "central rigid body + flexible attachment" system: one is to arrange sensors and actuators on the flexible structure for active vibration control; the other is not to consider the vibration structure sensors and actuators, Flexural vibrations are passively suppressed by a central rigid body controller. [0003] The method does not need to install an actuator on the flexible attachment, but uses the dynamic measurement information of the flexible vibration to perform vibration compensation and feedback control on the vibration effect in the attitude controller of the central rigid body. [0004] Various approaches have been proposed for vibration measurement of flexible stru...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 李智斌刘洁田科丰王晓磊郝永波涂俊峰杨林芳
Owner BEIJING INST OF CONTROL ENG
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