Distributed control method capable of improving control precision of flexible spacecraft
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A flexible spacecraft and distributed control technology, applied in attitude control, space navigation equipment, space navigation aircraft, etc., can solve the problem of less research
Inactive Publication Date: 2016-03-30
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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[0005] It should be pointed out that there are relatively few studies on the distributed control of flexible spacecraft and the application of CMGs equiangular momentum exchange devices in the field of flexible spacecraft control, and many advanced control algorithms have not yet been applied.
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Embodiment 1
[0053] Embodiment 1 Design of Distributed Vibration Controller Based on Lyapunov Theory
[0054] The working process and working principle of the present invention will be further explained by taking a distributed control flexible space manipulator as an example:
[0055] Such as image 3 As shown, the left side of the flexible space manipulator is fixedly connected to a large spacecraft. The mass of the arm is 50kg, and the inertia is diag[1668.6,10,1668.6]kg m 2 , the fundamental frequency is 0.025Hz, the structural damping is 0.005, the initial values of the first four modal coordinates are [5,5,-1,-1], and the initial values of the other modal coordinates and modal velocity are zero. When there is no control effect, the first four modes of the system oscillate between ±5, and the system vibration is in a divergent state.
[0056] Select nodes 20 and 21 to install CMGs and angular velocity meters. The selected small CMGs have a height of 80mm and a bottom diameter o...
Embodiment 2
[0072] Embodiment 2 combines Lyapunov theory and direct adaptive distributed vibration controller design
[0073]The working process and working principle of the present invention will be further explained by taking a distributed control flexible space manipulator as an example:
[0074] The structure, size, and selected CMG parameters and installation methods of the flexible space manipulator used in this embodiment are the same as those in Embodiment 1, such as image 3 As shown, the fundamental frequency is selected as 0.051Hz, and the structural damping is 0.001. The boom has static deformation at the initial moment, and the initial values of the first four modal coordinates are [1,1,-0.1,-0.1], and the remaining modes The initial values of modal coordinates and modal velocities are zero. When there is no control effect, the first four modal coordinates oscillate between ±1, and the system vibration is in a divergent state. The response of the structure under the act...
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Abstract
The invention relates to a distributed control method capable of improving the control precision of a flexible spacecraft and belongs to the flexible spacecraft control field. The method includes the following steps that: an execution mechanism and a sensor are installed at the same site of each of n arbitrary positions on the flexible spacecraft, and a dynamic model is established and is linearized, so that a linear time-invariant dynamic equation and a kinematics equation of a system can be obtained and are adopted as a controller design model; and an elastic rotation angle velocity and CMGs frame angle feedback control law is designed based on the Lyapunov theory, or the Lyapunov theory and direct adaptive control are combined together so as to design a desired reference model and a direct adaptive feedback control law. According to the distributed control method of the invention adopted, the vibration suppression of the flexible spacecraft can be realized based on the execution mechanisms which are installed in a distributed manner, and therefore, the vibration of the system can be converted into a stable state from a divergence state, and the control precision of the flexible spacecraft can be improved; and the estimation of the parameters of the system is not required in direct adaptive controller design, and high robustness can be realized, and therefore, the control precision of the flexible spacecraft can be further improved.
Description
technical field [0001] The invention relates to a distributed control method for improving the control precision of a flexible spacecraft, in particular to a control moment gyroscope equiangular momentum exchange device distributed and installed as an actuator, which can effectively suppress flexible vibration control in the process of attitude maneuvering The method belongs to the field of flexible spacecraft control. Background technique [0002] Distributed control of flexible structures refers to the use of angular momentum exchange devices discretely distributed on flexible structures, such as flywheels (FlyWheels, FWs) and control moment gyroscopes (ControlMomentGyroscopes, CMGs), etc., as actuators to control flexible systems. When such angular momentum devices are installed on the flexible structure, many different dynamic characteristics will be displayed, and the control problem will be greatly changed due to the introduction of new degrees of freedom. Therefore, t...
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