Distributed control method capable of improving control precision of flexible spacecraft
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
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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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