Vibration isolation method, system and device for control moment gyro system

Abstract

The application provides a vibration isolation method, system and device of a control moment gyroscope system, which can be applied to the technical field of control. The method comprises the following steps: determining current kinematic parameters based on disturbance forces received by multiple components during operation; constructing a differential equation representing a dynamic relationship based on the current kinematic parameters and coupled dynamic characteristics; inputting a system state vector into a disturbance estimation network to output a disturbance estimation value; inputting the system state vector into the differential equation to obtain a disturbance theoretical value; inputting the disturbance estimation value and the disturbance theoretical value into a Hamilton function to obtain an initial control input quantity corresponding to a Hamilton function value satisfying a preset constraint condition; and updating the initial control input quantity in a gradient descent direction of a performance index function approximation value corresponding to the initial control input quantity until a difference between adjacent two performance index function approximation values is less than a preset threshold value, so as to obtain a target control input quantity.

Description

Technical Field

[0001] This invention relates to the field of control technology, and more specifically to a vibration isolation method, system, and device for a control torque gyroscope system. Background Technology

[0002] Control moment gyroscopes are widely used in high-precision attitude control of spacecraft due to their excellent torque output capability and energy efficiency. In practical applications, control moment gyroscopes may experience micro-vibrations due to factors such as the mass imbalance of their high-speed rotors and the control precision of the frame servo system. These vibrations can be transmitted to the spacecraft and affect its normal operation.

[0003] To address this issue, a flexible vibration isolation platform is installed between the spacecraft and the control moment gyroscope to attenuate the disturbance forces and torques generated by the control moment gyroscope. However, after installing the vibration isolator, its flexibility may cause it to deform under the action of the control moment gyroscope, thereby generating a certain reaction force on the control moment gyroscope and affecting the stability of the control moment gyroscope flywheel rotor and frame system, thus reducing the vibration isolation effect. Summary of the Invention

[0004] In view of the above problems, the present invention provides a vibration isolation method, system and device for controlling torque gyroscope systems.

[0005] According to a first aspect of the present invention, a vibration isolation method for a control moment gyroscope system is provided, comprising: determining the current kinematic parameters of each of the multiple components in the control moment gyroscope system based on the disturbance forces experienced by multiple components during operation, wherein the multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics, the vibration isolator being used to suppress the vibration of the control moment gyroscope; constructing a differential equation characterizing the dynamic relationship of the control moment gyroscope system based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system; inputting the system state vector of the control moment gyroscope system into a disturbance estimation network, and outputting a disturbance estimate of the control moment gyroscope system; inputting the system state vector into the differential equation to obtain... The disturbance theoretical value is obtained, where the system state vector is determined based on the multi-degree-of-freedom displacement vector of the base in multiple components. The disturbance estimate and the disturbance theoretical value are input into the Hamiltonian function to obtain the initial control input of the vibration isolator under the condition that the Hamiltonian function value satisfies the preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theoretical value. According to the approximate value of the performance index function corresponding to the initial control input, the initial control input is updated along the gradient descent direction of the approximate value of the performance index function until the difference between two adjacent approximate values ​​of the performance index function is less than a preset threshold, thus obtaining the target control input.

[0006] A second aspect of the present invention provides a control moment gyroscope system, comprising: a vibration isolator; a base, wherein the vibration isolator is installed inside the base, the upper end of the base is mechanically connected to a frame, and the lower end of the base is mounted on a spacecraft platform; a flywheel rotor, mounted inside the frame of a ring-shaped support structure, capable of rotating about its own axis; a frame, hinged to the base at both ends via frame shafts, capable of rotating relative to the base about the frame shaft to adjust the angular momentum direction of the flywheel rotor; and a controller for executing the vibration isolation method of the control moment gyroscope system described above.

[0007] A third aspect of the present invention provides a vibration isolation device for a control moment gyroscope system, comprising: a first determining module, configured to determine the current kinematic parameters of each of the multiple components in the control moment gyroscope system based on the disturbance forces experienced by the multiple components during operation, wherein the multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics, the vibration isolator being used to suppress the vibration of the control moment gyroscope; a first constructing module, configured to construct a differential equation characterizing the dynamic relationship of the control moment gyroscope system based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system; and a first input module, configured to input the system state vector of the control moment gyroscope system into a disturbance estimation network and output a disturbance estimate of the control moment gyroscope system; and input the system state vector into a differential network. The system uses an equation to obtain the theoretical value of the disturbance, where the system state vector is determined based on the displacement vector of the base in multiple components. The second input module inputs the disturbance estimate and the theoretical disturbance value into a Hamiltonian function to obtain the initial control input of the vibration isolator under the condition that the Hamiltonian function value satisfies preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the theoretical disturbance value. The update module updates the initial control input along the gradient descent direction of the performance index function approximation value, based on the approximate value of the initial control input, until the difference between two adjacent approximate values ​​of the performance index function is less than a preset threshold, thus obtaining the target control input.

[0008] A fourth aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method described above.

[0009] A fifth aspect of the present invention also provides a computer-readable storage medium having a computer program or instructions stored thereon, wherein the computer program or instructions, when executed by a processor, implement the steps of the above-described method.

[0010] A sixth aspect of the present invention also provides a computer program product, including a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0011] According to embodiments of the present invention, based on the disturbance forces during the operation of multiple components of a control moment gyroscope system, the current kinematic parameters of each component are accurately extracted, providing a realistic basic input for the dynamic modeling of the control moment gyroscope system and effectively avoiding modeling distortion caused by missing or biased kinematic parameters. On this basis, differential equations characterizing the dynamic relationships of the control moment gyroscope system are constructed by combining coupled dynamic characteristics. The coupling mechanism between multiple components within the control moment gyroscope system and the flexible vibration isolator is comprehensively considered, providing a rigorous dynamic benchmark for subsequent disturbance estimation and control quantity solution. By inputting the system state vector into the disturbance estimation network and the differential equation respectively, the disturbance estimate and theoretical disturbance values ​​are obtained simultaneously, achieving accurate capture and dual verification of multi-source disturbances, effectively improving the accuracy of disturbance identification.

[0012] A performance index function is constructed based on differential equations and disturbance errors. The Hamiltonian function is obtained by taking its partial derivative. The disturbance information, dynamic constraints and control objectives are organically integrated, so that the initial control input of the vibration isolator obtained by solving the Hamiltonian function can fully adapt to the coupled dynamic characteristics of the system and the vibration isolation control requirements, ensuring the rationality and pertinence of the initial control input.

[0013] The initial control input is iteratively updated along the gradient descent direction of the approximate value of the performance index function, continuously reducing the performance index difference. This weakens the multi-degree-of-freedom coupled dynamic correlation of the system, reduces the influence of coupled vibration between components, and improves the vibration isolation and reduction effect of the control moment gyroscope system. Attached Figure Description

[0014] The above-described features, other objects, and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0015] Figure 1 A flowchart of a vibration isolation method for a control torque gyroscope system according to an embodiment of the present invention is shown;

[0016] Figure 2 A schematic diagram of the coordinate system of each component in a control torque gyroscope system according to an embodiment of the present invention is shown;

[0017] Figure 3 A schematic diagram of rotational angular displacement under passive vibration isolation according to an embodiment of the present invention is shown;

[0018] Figure 4A schematic diagram of rotational angular displacement under active and passive vibration isolation according to an embodiment of the present invention is shown;

[0019] Figure 5 A schematic diagram showing the comparison effect of translational angular displacement under passive vibration isolation according to an embodiment of the present invention is shown;

[0020] Figure 6 A schematic diagram showing the comparison effect of translational angular displacement under passive vibration isolation according to an embodiment of the present invention is shown;

[0021] Figure 7 A schematic diagram showing the comparison effect of translational angular displacement under passive vibration isolation according to an embodiment of the present invention is shown;

[0022] Figure 8 A structural block diagram of a control torque gyroscope system according to an embodiment of the present invention is shown;

[0023] Figure 9 A structural block diagram of a vibration isolation device for a control torque gyroscope system according to an embodiment of the present invention is shown;

[0024] Figure 10 A block diagram of an electronic device suitable for implementing a vibration isolation method for a control torque gyroscope system according to an embodiment of the present invention is shown. Detailed Implementation

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0027] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0028] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0029] Control torque gyroscopes are widely used in high-precision attitude control of spacecraft due to their excellent torque output capability and energy efficiency. Their core components include a high-speed rotating flywheel rotor and a low-speed rotating frame system. Based on the principles of angular momentum and the gyroscopic effect, control torque is generated by adjusting the spatial direction of the high-speed rotor's angular momentum in real time. The stability of the actuator's output torque directly determines the dynamic response characteristics and steady-state accuracy of the spacecraft's attitude control, and is a factor affecting the stable operation of the spacecraft in orbit.

[0030] In practical applications, control moment gyroscopes may experience micro-vibrations due to factors such as the mass imbalance of their high-speed rotors and the control precision of the frame servo system. These vibrations can be transmitted to the spacecraft itself, affecting the normal operation of high-precision aerospace instruments. To address this issue, a flexible vibration isolation platform is typically installed between the spacecraft and the control moment gyroscope to attenuate the disturbance forces and torques generated by the control moment gyroscope.

[0031] After installing the vibration isolator, its flexibility may cause deformation under the action of the control moment gyroscope, thus generating a certain reaction force on the control moment gyroscope and affecting the stability of the flywheel rotor and frame system within it. In other words, although the introduction of the flexible vibration isolator produces a significant positive effect, the deformation of the isolation platform introduces additional degrees of freedom, creating a certain negative feedback effect on the control moment gyroscope. Therefore, a more effective vibration isolator needs to be designed to solve this contradictory vibration isolation problem.

[0032] Vibration isolation technology can be divided into three categories: passive vibration isolation, active vibration isolation, and hybrid active-passive vibration isolation. Passive vibration isolation technology utilizes the spring-damping mechanism within the isolator, absorbing and dissipating vibration energy through elastic elements and damping materials. It has a good isolation effect on mid-to-high frequency vibrations, but its performance is limited in the low-frequency region close to resonance. Active vibration isolation technology uses real-time sensor feedback and actuators to achieve precise vibration suppression, effectively controlling low-frequency and even ultra-low-frequency vibrations. However, its effective operating range is limited to the design bandwidth and requires continuous external power supply. Hybrid active-passive vibration isolation technology combines the reliability of passive vibration isolation with the precision of active control. It uses passive components to absorb foundation vibrations while employing active actuators to compensate for residual vibrations in real time, achieving wideband suppression and high energy efficiency.

[0033] However, the active-passive hybrid vibration isolation method is developed under simplified linear or weakly coupled assumptions, and many active controllers rely on offline tuning or fixed parameter optimization, which limits the ability to adapt and re-optimize in real time under time-varying conditions and disturbances.

[0034] In view of this, embodiments of the present invention provide a vibration isolation method for a control moment gyroscope system, comprising: determining the current kinematic parameters of each of the multiple components in the control moment gyroscope system based on the disturbance forces experienced by multiple components during operation, wherein the multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics, the vibration isolator being used to suppress the vibration of the control moment gyroscope; constructing a differential equation characterizing the dynamic relationship of the control moment gyroscope system based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system; inputting the system state vector of the control moment gyroscope system into a disturbance estimation network, and outputting a disturbance estimate of the control moment gyroscope system; inputting the system state vector into the differential equation, The theoretical value of the disturbance is obtained, where the system state vector is determined based on the multi-degree-of-freedom displacement vector of the base. The disturbance estimate and the disturbance theory are input into the Hamiltonian function to obtain the initial control input of the vibration isolator under the condition that the Hamiltonian function value satisfies the preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theory. According to the approximate value of the performance index function corresponding to the initial control input, the initial control input is updated along the gradient descent direction of the approximate value of the performance index function until the difference between two adjacent approximate values ​​of the performance index function is less than a preset threshold, thus obtaining the target control input.

[0035] Figure 1 A flowchart of a vibration isolation method for a control torque gyroscope system according to an embodiment of the present invention is shown.

[0036] like Figure 1 As shown, the vibration isolation method of the control torque gyroscope system in this embodiment includes operations S110 to S150.

[0037] In operation S110, based on the disturbance forces experienced by multiple components in the control moment gyroscope system during operation, the current kinematic parameters of each component are determined. These components include the control moment gyroscope and a vibration isolator with flexible characteristics, which is used to suppress the vibration of the control moment gyroscope.

[0038] According to an embodiment of the present invention, a vibration isolator is installed between the spacecraft and the control moment gyroscope via a base to attenuate the disturbance forces and torques generated by the control moment gyroscope. This is a passive vibration isolation technology, which utilizes the spring-damping mechanism within the isolator to absorb and dissipate vibration energy through elastic elements and damping materials, providing good isolation for mid-to-high frequency vibrations. The vibration isolator is equivalent to a spring-damped structure that combines translational and rotational stiffness and damping, providing flexible support for the entire control moment gyroscope system.

[0039] According to an embodiment of the present invention, the base can be used to encapsulate the vibration isolator and fix the vibration isolator between the spacecraft and the control moment gyroscope. The base can provide an installation reference.

[0040] According to an embodiment of the present invention, a control torque gyroscope can consist of a high-speed rotating flywheel rotor and a frame supporting the flywheel and rotatable about an axis. The high-speed flywheel and the rotatable frame generate a large torque using electrical energy from a motor, without the need for fuel, to turn the spacecraft and stabilize its attitude.

[0041] According to an embodiment of the present invention, when the control moment gyroscope system is running, the control moment gyroscope can generate disturbance forces such as gyro coupling torque and motor drive reaction torque. These disturbance forces and torques are transmitted to the base; simultaneously, the base is subjected to environmental disturbances from the spacecraft platform and its own coupled vibrations, generating additional disturbance forces. These disturbance forces interact with the flexible deformation of the vibration isolator, inducing action and reaction forces, ultimately forming a multi-source coupled disturbance force transmission relationship between the flywheel rotor, frame, base, and vibration isolator.

[0042] According to embodiments of the present invention, the current kinematic parameters can be translational and rotational parameters. For example, the current kinematic parameters can be translational displacement, translational velocity, rotational angular velocity, angular displacement, etc.

[0043] In operation S120, based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control torque gyroscope system, differential equations characterizing the dynamic relationship of the control torque gyroscope system are constructed.

[0044] According to embodiments of the present invention, the coupled dynamic characteristics of the control moment gyroscope system may include inertial characteristics, dissipation characteristics, and elastic characteristics.

[0045] Inertial characteristics can be determined by the mass and moment of inertia of each component, and are the root of dynamics and motion inertia coupling. For example, the control moment gyroscope and the base itself generate inertial forces and inertial torques as the motion state changes. The motions of each component are interdependent, and inertial effects are transmitted across each other, exacerbating the motion coupling and attitude coupling between multiple degrees of freedom, causing the control moment gyroscope system to exhibit a dynamic response with strong inertial correlation.

[0046] Dissipation characteristics can be manifested by vibration isolator damping and structural damping, playing a role in damping coupling and vibration attenuation. During motion, damping dissipates energy, suppresses resonance and oscillation divergence, and at the same time, the damping force generates a cross-coupling effect with the relative motion speed of each component, which not only attenuates the vibration of each component itself, but also weakens the dynamic coupling strength between components, balances the dynamic response of the system, and suppresses the continuous propagation of coupled vibration.

[0047] The elastic properties can be provided by flexible vibration isolators, which determine the deformation coupling and stiffness coupling of the control moment gyroscope system. For example, the elastic deformation of the vibration isolator and the structure will control the vibration excitation of the moment gyroscope to generate elastic restoring force and restoring torque. On the one hand, it will receive and transmit the vibration displacement between the components, and on the other hand, it will change the inherent mode of the control moment gyroscope system through elastic constraints, induce dynamic coupling of displacement and angle between components, and amplify the vibration transmission and attitude correlation effects.

[0048] According to embodiments of the present invention, the dynamic relationship of the control moment gyroscope system characterizes the dynamic correlation between the components under the combined action of inertial characteristics, elastic characteristics, and dissipative characteristics, resulting in multi-degree-of-freedom motion constraints, force or torque transmission, and vibration coupling. The dynamic relationship of the control moment gyroscope system can reflect the dynamic evolution law of strong coupling among multiple components.

[0049] According to an embodiment of the present invention, the differential equation can take the disturbance forces experienced by multiple components during operation as input, resulting in high accuracy in dynamic modeling. Using the differential equation as the benchmark for system dynamics can not only provide a basis for the evolution of system state for the disturbance estimation network, but also support the reasonable construction of performance index functions and Hamiltonian functions, realizing a logical closed loop of modeling, disturbance identification, and optimal control.

[0050] In operation S130, the system state vector of the control moment gyroscope system is input into the disturbance estimation network, and the disturbance estimate of the control moment gyroscope system is output. The system state vector is input into the differential equation to obtain the theoretical value of the disturbance. The system state vector is determined based on the multi-degree-of-freedom displacement vector of the base in multiple components.

[0051] According to embodiments of the present invention, the multi-degree-of-freedom displacement vector of the base can be determined based on the base's degree-of-freedom motion capabilities. For example, the base, as a spatial rigid body, possesses six inherent degrees of freedom of motion, including three-dimensional translation and three-dimensional rotation. The elastic support of the flexible vibration isolator allows the base to translate and deflect in three-dimensional space. The multi-degree-of-freedom displacement vector of the base can be a six-degree-of-freedom displacement vector.

[0052] According to an embodiment of the present invention, the system state vector can be determined by the six-degree-of-freedom displacement vector of the base, the three-dimensional translational velocity, and the three-dimensional rotational velocity.

[0053] According to an embodiment of the present invention, the perturbation estimation network can be a feedforward perturbation compensation network based on a neural network.

[0054] For example, a neural network can be used to approximate the disturbance of a control moment gyroscope system online. The neural network takes the system state vector as input and outputs the disturbance estimate. The neural network employs a linear combination of basis functions, and the estimated value gradually approximates the actual disturbance by adjusting the network weights. This network structure exhibits good nonlinear approximation capability, can adapt to complex disturbance patterns, and has moderate computational complexity, facilitating online real-time updates.

[0055] To optimize and adjust neural network weights online, a loss function is designed with the squared perturbation estimation error as the metric; a smaller perturbation estimation error indicates higher approximation accuracy. An adaptive update law for the network weights is derived based on gradient descent, ensuring that the weights are adjusted along the direction of the fastest descent of the loss function.

[0056] The update law can incorporate a learning rate parameter to control the step size. An excessively large learning rate may cause weight oscillations or even divergence, while a learning rate that is too small will result in slow convergence. By appropriately configuring the learning rate, the system can achieve a balance between convergence speed and stability, allowing the perturbation estimation accuracy to continuously improve as the control moment gyroscope system operates.

[0057] Practical neural networks struggle to achieve perfectly accurate perturbation approximation, resulting in a certain degree of estimation error. This estimation error is treated as a bounded additional perturbation, and robust control principles are introduced into the subsequent control algorithm design, enabling the control moment gyroscope system to tolerate a certain level of estimation error. Through this approach, even with residuals in the perturbation estimation, the closed-loop system can still maintain stable operation, with only a limited impact on control performance, thus improving the algorithm's engineering practicality.

[0058] Therefore, we first construct a neural network structure for perturbation estimation, and then use the neural network output to achieve online approximation of unknown perturbations. We then design a loss function and a weight update law to enable the neural network to continuously learn and adjust during system operation. Finally, we treat the perturbation estimation error as a bounded additional perturbation.

[0059] In operation S140, the disturbance estimate and the disturbance theory are input into the Hamiltonian function to obtain the initial control input of the vibration isolator under the condition that the Hamiltonian function value satisfies the preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theory.

[0060] According to an embodiment of the present invention, the performance index function can comprehensively reflect the control effect of the vibration isolation method of the control moment gyroscope system. For example, the performance index function evaluates the cumulative performance of the system over an infinite future time interval, starting from the current moment; the smaller the performance index function value, the better the control effect. The performance index function consists of three parts: the first part reflects the degree to which the system state deviates from the equilibrium position; the greater the state deviation, the larger the value of this term, reflecting the requirement to suppress vibration amplitude; the second part reflects the intensity of the control input; the stronger the control action, the larger the value of this term, reflecting the requirement to limit energy consumption; the third part reflects the impact of disturbance estimation error on system performance, limiting the performance loss caused by disturbance by setting an appropriate attenuation level. By reasonably configuring the weight coefficients of these three parts, the control algorithm can achieve a balance between vibration suppression effect, control energy consumption, and disturbance resistance capability.

[0061] According to an embodiment of the present invention, the Hamiltonian function can be a comprehensive constraint function that integrates system state, control input, disturbance error and performance index variation characteristics, and is used to screen the initial control input of the vibration isolator that meets the preset constraint conditions.

[0062] For example, the Hamiltonian function value can satisfy a preset constraint condition, such as the Hamiltonian function value being equal to 0 or the Hamiltonian function value reaching its minimum.

[0063] In operation S150, the initial control input is updated along the gradient descent direction of the performance index function approximation value based on the approximation value of the initial control input, until the difference between two adjacent approximation values ​​of the performance index function is less than a preset threshold, thus obtaining the target control input.

[0064] According to an embodiment of the present invention, the approximate value of the performance index function corresponding to the initial control input can be learned using an intelligent learning algorithm (such as a model with a neural network structure).

[0065] According to embodiments of the present invention, the control input is iteratively updated along the gradient descent direction of the performance index function, always seeking optimization in the direction of optimal performance, and can quickly converge to the target control input that meets the accuracy requirements. There is no need to linearly simplify the complex six-degree-of-freedom coupled dynamics of the control moment gyroscope; instead, it adaptively optimizes based on the gradient information of the approximate performance index value, adapting to the nonlinear dynamic characteristics brought about by inertial, elastic, and dissipative coupling, thus ensuring control closely matches real-world operating conditions.

[0066] According to embodiments of the present invention, the preset threshold can be set according to actual needs. For example, the preset threshold can be any constant such as 0.1, 1, 2, 10, etc.

[0067] According to an embodiment of the present invention, the target control input obtained through iteration weakens the multi-degree-of-freedom coupled dynamic correlation of the system, reduces the influence of coupled vibration between components, and realizes high-precision vibration isolation and reduction of the control moment gyroscope system.

[0068] According to embodiments of the present invention, based on the disturbance forces during the operation of multiple components of a control moment gyroscope system, the current kinematic parameters of each component are accurately extracted, providing a realistic basic input for the dynamic modeling of the control moment gyroscope system and effectively avoiding modeling distortion caused by missing or biased kinematic parameters. On this basis, differential equations characterizing the dynamic relationships of the control moment gyroscope system are constructed by combining coupled dynamic characteristics. The coupling mechanism between multiple components within the control moment gyroscope system and the flexible vibration isolator is comprehensively considered, providing a rigorous dynamic benchmark for subsequent disturbance estimation and control quantity solution. By inputting the system state vector into the disturbance estimation network and the differential equation respectively, the disturbance estimate and theoretical disturbance values ​​are obtained simultaneously, achieving accurate capture and dual verification of multi-source disturbances, effectively improving the accuracy of disturbance identification.

[0069] A performance index function is constructed based on differential equations and disturbance errors. The Hamiltonian function is obtained by taking its partial derivative. The disturbance information, dynamic constraints and control objectives are organically integrated, so that the initial control input of the vibration isolator obtained by solving the Hamiltonian function can fully adapt to the coupled dynamic characteristics of the system and the vibration isolation control requirements, ensuring the rationality and pertinence of the initial control input.

[0070] The initial control input is iteratively updated along the gradient descent direction of the approximate value of the performance index function, continuously reducing the performance index difference. This weakens the multi-degree-of-freedom coupled dynamic correlation of the system, reduces the influence of coupled vibration between components, and improves the vibration isolation and reduction effect of the control moment gyroscope system.

[0071] Figure 2 A schematic diagram of the coordinate system of each component in a control torque gyroscope system according to an embodiment of the present invention is shown.

[0072] like Figure 2 As shown, the components also include: a base 220, with a vibration isolator 210 installed inside the base 220, the upper end of the base 220 being mechanically connected to the frame, and the lower end of the base 220 being mounted on the spacecraft platform; a flywheel rotor 230, which is mounted inside the frame 240 of the annular support structure and can rotate around its own axis; and a frame 240, which is hinged to the base 220 at both ends and can rotate relative to the base 220 around the frame axis to adjust the angular momentum direction of the flywheel rotor 230.

[0073] The unbalanced disturbance force and gyroscopic torque generated by the flywheel rotor 230 are transmitted sequentially to the vibration isolator 210 through the frame 240 and the base 220. The elastic deformation of the vibration isolator 210 exerts a reaction torque on the base 220, the frame 240 and the flywheel rotor 230, thereby forming a six-degree-of-freedom coupled dynamic relationship between the flywheel rotor 230, the frame 240, the base 220 and the vibration isolator 210.

[0074] To accurately describe the motion relationships of the various components in the control torque gyroscope system, the following eight coordinate systems were established: Inertial coordinate system Used to describe absolute motion. Frame position coordinate system. Used to describe the installation location of frame 240. Frame volume coordinate system. Used to describe the motion characteristics of frame 240. Flywheel rotor position coordinate system. Used to describe the mounting position of flywheel rotor 230. Flywheel rotor body coordinate system. Used to describe the motion characteristics of the flywheel rotor 230, it can simultaneously describe the static and dynamic imbalance of the flywheel rotor 230. Vibration isolator reference coordinate system. Used to describe the initial undeformed state of the vibration isolator 210. Base coordinate system of the control moment gyroscope system. Used to describe the motion of base 220. Auxiliary coordinate system. This coordinate system is used to describe the angular transformation relationship between the base 220 and the vibration isolator 210. The establishment of the above coordinate system can accurately depict the relative motion and coupling relationship between the components.

[0075] Figure 2 middle, For vibration isolator 210 in Angular displacement caused by deformation in the axial direction For vibration isolator 210 in Angular displacement caused by deformation in the axial direction For vibration isolator 210 in Angular displacement caused by deformation in the axial direction. This refers to the angular displacement of the flywheel rotor 230 as it rotates at high speed around its own spin axis. It represents the angular displacement of the frame 240 relative to the base 220 about the frame axis.

[0076] According to an embodiment of the present invention, the current kinematic parameters of each of the multiple components include the translational displacement velocity of the frame, the translational displacement velocity of the flywheel rotor, the rotational angular velocity of the frame, and the rotational angular velocity of the flywheel center of mass. Based on the disturbance forces experienced by the multiple components in the control torque gyroscope system during operation, the current kinematic parameters of each component are determined, including: determining the translational displacement velocity of the frame based on the disturbance forces, according to the translational displacement of the base, the static position deviation of the frame center of mass, and the dynamic displacement vector caused by the frame rotation; the disturbance forces include the reaction torque of the frame motor drive torque, the centrifugal disturbance force and torque generated by the static and dynamic imbalance of the flywheel rotor, and the gyroscopic torque generated when the frame rotation changes the direction of the flywheel rotor's angular momentum; and determining the angular displacement of the base in the preset direction based on the angular displacement caused by the deformation of the vibration isolator in the preset direction. Velocity; Based on the angular velocity of the base in a preset direction, the first transfer matrix and the second transfer matrix of the vibration isolator, the third transfer matrix of the flywheel rotor, and the fourth transfer matrix of the frame, the rotational angular velocity of the frame and the rotational angular velocity of the flywheel's center of mass are determined. The first transfer matrix characterizes the angular displacement change caused by deformation of the vibration isolator in the first reference axis direction, the second transfer matrix characterizes the angular displacement change caused by deformation of the vibration isolator in the second reference axis direction, the third transfer matrix characterizes the angular displacement change of the flywheel rotor as it spins around its own axis, and the fourth transfer matrix characterizes the angular displacement change of the base rotating around the frame axis. Based on the translational displacement velocity of the frame, the static position of the flywheel rotor relative to the frame, the dynamic offset of the flywheel rotor relative to its static position during motion, and the rotational angular velocity of the frame, the translational displacement velocity of the flywheel rotor is determined.

[0077] According to an embodiment of the present invention, the control torque gyroscope system is subjected to various disturbance forces during normal operation, mainly including the reaction torque of the frame motor driving torque, the centrifugal disturbance force and torque generated by the static and dynamic imbalance of the high-speed rotor, and the gyroscopic torque generated when the frame rotation changes the direction of the flywheel angular momentum. The reaction torque of the frame motor directly acts on the vibration isolator; the rotor static imbalance is caused by the rotor's center of mass deviating from the rotation axis, generating a centrifugal force proportional to the square of the rotational speed. The rotor dynamic imbalance is caused by the rotor's inertial axis deviating from the rotation axis, generating a centrifugal torque proportional to the square of the rotational speed. The gyroscopic torque is generated when the frame rotates, and its magnitude is related to the flywheel angular momentum and the frame rotational speed. Through the analysis of the above disturbance force sources, the main sources of vibration excitation and their mechanisms of action are clarified.

[0078] According to an embodiment of the present invention, kinematic analysis is performed on the base, frame, and flywheel rotor respectively. The base is mounted on the spacecraft platform via a flexible vibration isolator, which is equivalent to a spring-damped structure with translational and rotational stiffness and damping, and rotates relative to the flexible base via the frame axis. The high-speed flywheel rotor is mounted on the frame, changing its angular momentum direction with the frame while simultaneously spinning at high speed around its own axis. The unbalanced disturbance force and gyroscopic torque generated by the flywheel rotor are transmitted to the base via the frame, and then to the flexible vibration isolator; conversely, the elastic deformation of the vibration isolator generates a reaction force and reaction torque on the control moment gyro system, thus forming a six-degree-of-freedom coupled dynamic relationship between the flywheel, frame, flexible base, and vibration isolator.

[0079] According to an embodiment of the present invention, the displacement of the base center of mass relative to the inertial frame is described by three translational degrees of freedom; the displacement of the frame center of mass relative to the inertial frame is composed of the base displacement, the installation position of the frame when it is stationary, and the dynamic displacement generated by the rotation of the frame. The displacement of the flywheel rotor center of mass relative to the inertial frame is further superimposed with the installation position of the rotor on the frame and the dynamic displacement of the rotor.

[0080] According to an embodiment of the present invention, at the velocity analysis level, the system derives the expressions for the translational and rotational velocities of the frame and flywheel, corresponding to formulas (1), (2), (4), and (5), respectively, and considers the influence of the deformation of the flexible vibration isolator on the angular velocity of the base. Through the above analysis, the kinematic relationships of each component are established, laying the foundation for subsequent kinetic energy calculations.

[0081] According to an embodiment of the present invention, the translational displacement velocity of the frame It can be the translational displacement velocity of the frame's center of mass, which can be expressed relative to the inertial frame as:

[0082] ;

[0083] This represents the translational displacement of the base. It is the static positional deviation of the frame's centroid. This represents the dynamic displacement vector caused by the frame rotation. It should be noted that the period "." indicates the first derivative, and the period ".." indicates the second derivative. For example, The first derivative of the translational displacement of the base is the translational velocity of the base. The first derivative of angular displacement is angular velocity.

[0084] According to an embodiment of the present invention, the translational displacement velocity of the flywheel rotor It can be represented as:

[0085] ;

[0086] This represents the static position of the flywheel rotor's center of mass in the frame's body coordinate system when the flywheel rotor is stationary relative to the frame. The actual center of mass of the flywheel rotor relative to its static position during operation. The resulting dynamic offset. It is expressed as the rotational angular velocity of the frame.

[0087] Preset direction is possible The axial direction refers to the angular displacement caused by the deformation of the vibration isolator in a preset direction. Angular displacement caused by deformation in the axial direction . , The angular velocity of the base in the preset direction.

[0088] The direction of the first reference axis is Axial direction, For vibration isolators Angular displacement caused by deformation in the axial direction This is the first transfer matrix of the vibration isolator.

[0089] The direction of the second reference axis can be Axial direction, For vibration isolators Angular displacement caused by deformation in the axial direction This is the second transfer matrix of the vibration isolator.

[0090] This refers to the angular displacement of the flywheel rotor as it rotates at high speed around its own spin axis. This is the third transfer matrix of the flywheel rotor.

[0091] To control the angular displacement of the moment gyroscope frame relative to the base about the frame axis, This is the fourth transition matrix of the framework.

[0092] According to an embodiment of the present invention, determining the rotational angular velocity of the frame and the rotational angular velocity of the flywheel center of mass based on the angular velocity of the base in a preset direction, the first transfer matrix and the second transfer matrix of the vibration isolator, the third transfer matrix of the flywheel rotor, and the fourth transfer matrix of the frame includes: determining the rotational angular velocity of the frame based on the angular velocity of the base in the preset direction, the first transfer matrix, the second transfer matrix, and the fourth transfer matrix; and determining the rotational angular velocity of the flywheel center of mass based on the angular velocity of the base in the second reference axis direction, the third transfer matrix, and the fourth transfer matrix. The current kinematic parameters of each of the multiple components also include the angular velocity of the base in the second reference axis direction, which is determined based on the angular velocity of the base in the preset direction, the first transfer matrix, and the second transfer matrix.

[0093] According to an embodiment of the present invention, the base is in the direction of the second reference axis (e.g., angular velocity on It can be represented as:

[0094] ;

[0095] The angular velocity of the base in the preset direction. and It is the corresponding unit vector.

[0096] According to an embodiment of the present invention, the rotational angular velocity of the frame It could be the rotational angular velocity of the frame's center of mass. The formula is as follows:

[0097] ;

[0098] According to an embodiment of the present invention, the rotational angular velocity of the flywheel's center of mass Represented as:

[0099] ;

[0100] According to an embodiment of the present invention, based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system, a differential equation characterizing the dynamic relationship of the control moment gyroscope system is constructed, including: determining the kinetic energy of the control moment gyroscope system based on the current kinematic parameters, mass, and moment of inertia of each of the multiple components; determining the potential energy of the control moment gyroscope system based on the multi-degree-of-freedom displacement vector of the base; and inputting the kinetic energy, potential energy, and damping term of the control moment gyroscope system into the Lagrange equation to derive the differential equation, wherein the damping term is used to characterize the coupled dynamic characteristics.

[0101] According to an embodiment of the present invention, the kinetic energy of the control moment gyroscope system is first calculated, including the sum of the translational and rotational kinetic energies of the flywheel, frame, and flexible vibration isolator; then, the potential energy of the control moment gyroscope system is calculated, expressed in quadratic form as the elastic potential energy generated by the deformation of the flexible vibration isolator. Substituting the above kinetic and potential energy expressions into the Lagrange equations, and considering the damping dissipation term, a set of second-order differential equations describing the six-degree-of-freedom deformation of the vibration isolator is obtained.

[0102] According to an embodiment of the present invention, in order to derive the dynamic equations of the coupled system, the general form of the Lagrange equations can be used:

[0103] ;

[0104] It is a Lagrange function. , To control the kinetic energy of the moment gyroscope system, including the translational and rotational kinetic energy of the flywheel, frame, and flexible vibration isolation base, The potential energy representing the control moment gyroscope system mainly consists of the elastic potential energy stored in the flexible vibration isolator after elastic deformation due to disturbance. For the damping term (such as the damping dissipation function) of the control torque gyroscope system. It is the multi-degree-of-freedom displacement vector of the base (such as a six-degree-of-freedom displacement vector). This refers to the disturbance term transmitted from the control torque gyroscope system to the vibration isolator. It is a time variable.

[0105] In formula (6), the first term is the generalized inertial term, which corresponds to the inertial effect of the control moment gyroscope system. The second term mainly reflects the conservative force caused by position and deformation. The third term represents the damping dissipation force term.

[0106] According to an embodiment of the present invention, kinetic energy It can be represented as:

[0107] ;

[0108] Potential energy Damping term , These are the masses of the frame, flywheel rotor, and base, respectively. These are the moments of inertia of the frame, flywheel rotor, and base, respectively.

[0109] According to an embodiment of the present invention, kinetic energy Potential energy Damping terms Substituting these equations into the Lagrange equations, we can derive the differential equations characterizing the dynamic relationships of the control moment gyroscope system, as shown below:

[0110] ;

[0111] For the quality matrix, Here is the damping matrix. This is the stiffness matrix. It should be noted that the period "." indicates the first derivative, and the period ".." indicates the second derivative. For example, This indicates the multi-degree-of-freedom displacement velocity of the base. This indicates the multi-degree-of-freedom displacement acceleration of the base.

[0112] The differential equation is expressed in terms of the mass matrix. Damping matrix and stiffness matrix The coupled dynamic characteristics of the control moment gyroscope system are characterized (e.g., the mass matrix represents inertial characteristics, the damping matrix represents dissipation characteristics, and the stiffness matrix represents elastic characteristics). The non-generalized conservative force terms on the right-hand side include various disturbance forces and moments obtained from the previous analysis. To facilitate the design of subsequent control algorithms, the system further rewrites the second-order differential equations into first-order state-space equations, with the state variables consisting of the six degrees of freedom displacement and velocity of the vibration isolator.

[0113] According to an embodiment of the present invention, the above method further includes: inputting the initial control input quantity into the performance index approximation network and outputting an approximate value of the performance index function corresponding to the initial control input quantity, wherein the performance index function of the performance index approximation network is a linear combination of a set of basis functions, the basis functions are constructed by nonlinear transformation of the system state vector based on the control moment gyroscope system, and the combination coefficients of the linear combination are the weight parameters of the performance index approximation network.

[0114] According to an embodiment of the present invention, a performance index function that comprehensively reflects the control effect is defined to quantitatively evaluate the merits of different control strategies. This performance index function evaluates the cumulative performance of the system over an infinite future time interval, starting from the current moment. A smaller performance index function value indicates a better control effect. The performance index function consists of three parts: the first part reflects the degree to which the system state deviates from its equilibrium position; the greater the state deviation, the larger this value, reflecting the requirement to suppress vibration amplitude. The second part reflects the strength of the control input; the stronger the control action, the larger this value, reflecting the requirement to limit energy consumption. The third part reflects the impact of disturbance estimation error on system performance; by setting an appropriate attenuation level, the performance loss caused by disturbance is limited. By reasonably configuring the weight coefficients of these three parts, the control algorithm can achieve a balance between vibration suppression effect, control energy consumption, and disturbance resistance capability.

[0115] According to an embodiment of the present invention, a mathematical description of the optimal control problem is constructed based on the established state-space equations and performance index functions. The core of this problem is to find an optimal control strategy that minimizes the performance index function value generated by the control moment gyroscope system during future operation, given any initial state. According to optimal control theory, the solution to this problem needs to satisfy the Hamilton-Jacobi-Bellman equations, which describe the intrinsic relationship between the optimal performance index function and the system dynamics, control strategy, and components of the performance index function. When the control strategy is optimal, the corresponding Hamiltonian function value should be zero. However, directly solving these equations to obtain analytical solutions is extremely difficult in engineering practice, especially for multi-degree-of-freedom nonlinear systems with strong coupling characteristics. Therefore, numerical iterative methods are required for approximate solutions.

[0116] According to an embodiment of the present invention, in order to design a control algorithm, the differential equation is rewritten in the form of a state-space expression. The selected performance index function... It can be written as:

[0117] ;

[0118] Time variable From t to For performance index functions with respect to time variables Taking the partial derivative yields the following Hamiltonian function H:

[0119] ;

[0120] It is a positive definite matrix. It is the state variable in the state-space expression (i.e., the system state vector of the control torque gyroscope system). It is the control input vector. For a parameter that needs to be designed, This is the approximate error term for the disturbance between the estimated and theoretical values ​​of the disturbance in the control moment gyroscope system. The constraint terms of the Hamiltonian equations, which can be solved based on the differential equations (such as the H value in Equation 10), can also be called the theoretical Hamiltonian values. This represents the system function term after being transformed into a state-space expression from formula (8). This represents the control input item after being transformed into a state-space expression by formula (8).

[0121] According to an embodiment of the present invention, to overcome the difficulty of directly solving the optimal control problem, a strategy iteration algorithm framework is adopted to achieve gradual optimization of the control strategy. This algorithm includes two core steps: strategy evaluation and strategy improvement. Through the cyclical alternation of these two steps, the control strategy gradually approaches its optimum. In the strategy evaluation step, for the given control strategy, the corresponding performance index function value is solved. This step essentially evaluates the control effect achievable by the known control strategy. Solving for the performance index function value requires obtaining the future cumulative performance starting from any initial state through integration based on the system dynamics equations and the mathematical expression of the current control strategy. In the strategy improvement step, a new control strategy is constructed based on the performance index function obtained in the previous step. The basic principle of improvement is to select the control action that minimizes the Hamiltonian function value, that is, to adjust the control input along the direction of gradient descent of the performance index function value. The new strategy obtained in this way can theoretically produce a better control effect than the original strategy. The two steps described above are repeated cyclically: after each policy evaluation, a policy improvement is performed based on the evaluation results to obtain a better control policy; then, based on the improved policy, the policy is evaluated again, and this process is repeated iteratively until the difference between the performance index function values ​​obtained from two adjacent iterations is less than a preset threshold. At this point, the control policy is considered to have converged to the optimal solution. This iterative algorithm has good convergence characteristics and can obtain a near-optimal control policy in a relatively small number of iterations.

[0122] According to embodiments of the present invention, in practical applications, the performance index function is difficult to describe precisely using an analytical expression. Therefore, a performance index approximation network (such as a neural network) is used for function approximation. The performance index function is represented as a linear combination of a set of basis functions, which are constructed based on the nonlinear transformation of the system state vector. The combination coefficients are the weight parameters of the performance index approximation network. By adjusting these weight parameters, the output of the performance index approximation network approximates the true performance index function value. To achieve online adjustment of the weight parameters, an adaptive update law based on gradient descent is designed.

[0123] According to an embodiment of the present invention, the weight parameters of the performance index approximation network are updated in the following manner: the gradient of the Hamiltonian approximation error relative to the weight parameters is calculated, wherein the Hamiltonian approximation error is the difference between the constraint term of the Hamiltonian equation that can be solved based on the differential equation and the Hamiltonian fitting term converted from the performance index function value output by the performance index approximation network; the weight parameters are updated along the gradient descent direction until the updated Hamiltonian approximation error is less than a preset error value.

[0124] According to an embodiment of the present invention, a Hamiltonian approximation error is first constructed, which reflects the approximation accuracy of the current performance index approximation network to the performance index function. With the objective of minimizing the squared error, the gradient of the Hamiltonian approximation error with respect to the weight parameters is calculated, and the weight parameters are adjusted along the gradient descent direction of the Hamiltonian approximation error with respect to the weight parameters. In this way, the weight parameters can be continuously updated during operation, thereby continuously improving the approximation accuracy of the performance index function. The design of the adaptive update law also requires a reasonable selection of the learning rate parameter to achieve a balance between convergence speed and stability.

[0125] According to an embodiment of the present invention, the above method further includes: constructing a Lyapunov function based on the energy term of the weight estimation error of the performance index function and the performance index approximation network, wherein the energy term of the weight estimation error is determined based on the weight error between the current weight parameters and the expected weight parameters, and the learning rate of the performance index approximation network; and determining that the state of the control moment gyroscope system is in a preset state and the weight estimation error satisfies the convergence condition when the derivative of the Lyapunov function corresponding to the current kinematic parameters of the multiple components is less than zero.

[0126] According to an embodiment of the present invention, to ensure the engineering practicality of the designed control algorithm, the system performs theoretical analysis on the stability of the closed-loop system and the convergence of the algorithm. By constructing a Lyapunov function, the evolution trend of the system state and weight estimation error is analyzed. The constructed Lyapunov function L is:

[0127] ;

[0128] , The performance metric approximates the network's learning rate, and is set to a constant value. It is a performance metric that approximates the current weight parameters of the network, and the weight error is... It can be the expected weight parameters of the network used to approximate performance metrics. With current weight parameters difference. This is the energy term for the weight estimation error. This is the performance index function corresponding to the system state vector X, used to characterize the system state of the control torque gyroscope system.

[0129] A neural network is used to build an evaluation network to approximate the performance index function. Let Lyapunov be the designed value function. Then, based on the established Lyapunov function, a theoretical stability proof can be performed.

[0130] The derivative of the Lyapunov function with respect to time is taken and substituted into the designed adaptive update law and control strategy. The derivatives of the Lyapunov functions corresponding to the current kinematic parameters of each component are less than zero, indicating that the Lyapunov function values ​​can continuously converge and eventually remain within a bounded interval. Therefore, it is deduced that the state of the control moment gyroscope system always remains in the preset state (i.e., bounded and converged to the neighborhood of the equilibrium point), and the weight estimation error satisfies the convergence condition. The convergence condition can be that the weight estimation error satisfies the consistent eventual boundedness property and will not diverge. This conclusion provides a theoretical guarantee for the engineering application of the algorithm, indicating that the algorithm has good practical application potential.

[0131] The larger the Lyapunov function value, the greater the deviation of the system state from the equilibrium point and the more obvious the vibration deviation. At the same time, the magnitude of the weight estimation error is also larger.

[0132] This invention establishes a comprehensive six-degree-of-freedom dynamic model of a control moment gyroscope system. This six-degree-of-freedom dynamic model integrates the flywheel rotor, the frame system, and the vibration isolator with a flexible platform. It explicitly considers the flexibility of the vibration isolator and the coupling dynamics between the flywheel, the frame, and the vibration isolation platform, making up for the shortcomings of existing models in considering degrees of freedom and providing an accurate controlled object model for the design of subsequent vibration control algorithms.

[0133] This invention constructs a vibration control algorithm that integrates feedforward compensation and adaptive dynamic programming strategy iteration. It approximates system disturbances in real time and achieves feedforward compensation through neural networks, and continuously optimizes the feedback control strategy through strategy iteration algorithm, which significantly enhances the adaptability and control efficiency of the vibration isolation system and effectively suppresses disturbances transmitted by the control moment gyroscope.

[0134] The vibration isolation method for the control moment gyroscope system proposed in this invention achieves online optimization of control performance while ensuring system stability. Theoretical analysis proves the stability of the closed-loop system and the boundedness of the weight estimation error, providing a theoretical guarantee for the engineering application of the algorithm.

[0135] This invention is not only applicable to the vibration suppression problem of control moment gyroscope systems, but its proposed modeling and control framework has good versatility and can be extended to other precision control systems with complex coupled vibrations, showing broad application prospects.

[0136] Figure 3 A schematic diagram of rotational angular displacement under passive vibration isolation according to an embodiment of the present invention is shown.

[0137] Figure 4 A schematic diagram of rotational angular displacement under active and passive vibration isolation according to an embodiment of the present invention is shown.

[0138] Figure 5 A schematic diagram showing the comparison of translational angular displacement in the x-direction between passive vibration isolation and active-passive vibration isolation methods according to an embodiment of the present invention is provided.

[0139] Figure 6 A schematic diagram showing the comparison of translational angular displacement in the y-direction between passive vibration isolation and active-passive vibration isolation according to an embodiment of the present invention is provided.

[0140] Figure 7 A schematic diagram showing the comparison of translational angular displacement in the z-direction under passive vibration isolation and active-passive vibration isolation according to an embodiment of the present invention is presented.

[0141] like Figure 3 , 4 Figures 5, 6, and 7 show a comparison of the six-degree-of-freedom displacement deformation of the vibration isolator before and after the introduction of the control algorithm in one embodiment of the present invention.

[0142] Figure 3 The diagram illustrates the rotational angular displacement deformation of the vibration isolator in three rotational degrees of freedom (x, y, and z) before the introduction of a control moment gyroscope system. It should be noted that the vibration isolation method prior to the introduction of the control moment gyroscope system was passive vibration isolation, meaning it only used the isolator to reduce vibration.

[0143] Figure 4 The paper demonstrates a comparison of angular displacement deformation in the three rotational degrees of freedom of the vibration isolator after introducing a control moment gyroscope system. It should be noted that active-passive vibration isolation is an active vibration isolation method that introduces a control moment gyroscope system based on passive vibration isolation.

[0144] Figures 5 to 7 The comparison of translational angular displacement deformation of the vibration isolator in three translational degrees of freedom (such as x, y, and z directions) is shown.

[0145] The comparison results show that, under the pure passive vibration isolation state without active control, the displacement of each degree of freedom of the vibration isolator exhibits small-amplitude periodic oscillations, indicating that the passive spring-damping structure can absorb some vibration energy, but the vibration attenuation effect is limited.

[0146] After introducing the vibration isolation method for the control moment gyroscope system proposed in this invention, the displacement amplitude of the isolator in all degrees of freedom directions is significantly reduced, especially in the main disturbed directions, where the vibration attenuation effect is more obvious. This result shows that the vibration isolation method for the control moment gyroscope system of this invention can effectively suppress the multi-directional coupled vibration generated by the control moment gyroscope system and significantly improve the vibration isolation performance.

[0147] In summary, by constructing a six-degree-of-freedom coupled dynamic model of the control moment gyroscope considering a flexible vibration isolator, a precise characterization of the complex coupling relationship between the flywheel rotor, the frame system, and the vibration isolation platform was achieved, revealing the interaction mechanism between the internal disturbance source of the control moment gyroscope and the flexible vibration isolation structure. Based on this, a vibration isolation method for the control moment gyroscope system, integrating neural network feedforward compensation and adaptive dynamic programming strategy iteration, was proposed. This method uses a feedforward network to approximate and compensate for system disturbances in real time, and optimizes the feedback control strategy online through strategy iteration, achieving adaptive optimal suppression of micro-vibrations of the control moment gyroscope. Theoretical analysis proves the stability of the closed-loop system and the boundedness of the weight estimation error, providing a reliable guarantee for the engineering application of the algorithm. Simulation results show that the vibration isolation method of the control moment gyroscope system achieves significant vibration attenuation effects in multiple degrees of freedom. Compared with the purely passive vibration isolation method, the displacement amplitude of each degree of freedom of the isolator is significantly reduced, the system control input remains bounded, and the evaluation network weights asymptotically converge, fully verifying the effectiveness and stability of the vibration isolation method of the control moment gyroscope system in improving vibration isolation performance. This not only provides a systematic solution to the problem of micro-vibration suppression in control moment gyroscope systems, but its proposed modeling and control framework also has good versatility and can be extended to other precision control systems with complex coupled vibrations. It has broad engineering application prospects and promotional value in the field of high-precision attitude control for spacecraft.

[0148] Figure 8 A structural block diagram of a control torque gyroscope system according to an embodiment of the present invention is shown.

[0149] like Figure 8 As shown, the control torque gyroscope system of this embodiment includes a vibration isolator 210, a base 220, a flywheel rotor 230, a frame 240, and a controller 250.

[0150] The base 220 is equipped with a vibration isolator 210. The upper end of the base 220 is mechanically connected to the frame 240, and the lower end of the base 220 is mounted on the spacecraft platform.

[0151] The flywheel rotor 230 is installed inside the frame 240 of the annular support structure and can rotate around its own axis.

[0152] The frame 240 is hinged to the base 220 via frame shafts at both ends and can rotate relative to the base 220 about the frame shafts to adjust the angular momentum direction of the flywheel rotor 230.

[0153] The controller 250 is used to execute the vibration isolation method of the control torque gyroscope system described above.

[0154] Figure 9 A structural block diagram of a vibration isolation device for a control torque gyroscope system according to an embodiment of the present invention is shown.

[0155] like Figure 9 As shown, the vibration isolation device 900 of the control torque gyroscope system in this embodiment includes a first determination module 910, a first construction module 920, a first input module 930, a second input module 940, and an update module 950.

[0156] The first determining module 910 is used to determine the current kinematic parameters of each of the multiple components in the control moment gyroscope system based on the disturbance forces experienced by the multiple components during operation. The multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics, the vibration isolator being used to suppress the vibration of the control moment gyroscope. In one embodiment, the first determining module 910 can be used to perform the operation S110 described above, which will not be repeated here.

[0157] The first construction module 920 is used to construct differential equations characterizing the dynamic relationships of the control moment gyroscope system based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system. In one embodiment, the first construction module 920 can be used to perform the operation S120 described above, which will not be repeated here.

[0158] The first input module 930 is used to input the system state vector of the control moment gyroscope system into the disturbance estimation network and output the disturbance estimate value of the control moment gyroscope system; and to input the system state vector into the differential equation to obtain the theoretical value of the disturbance, wherein the system state vector is determined based on the displacement vector of the base. In one embodiment, the first input module 930 can be used to perform the operation S130 described above, which will not be repeated here.

[0159] The second input module 940 is used to input the disturbance estimate and the disturbance theory into the Hamiltonian function to obtain the initial control input of the vibration isolator corresponding to the Hamiltonian function value satisfying the preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theory. In one embodiment, the second input module 940 can be used to execute the operation S140 described above, which will not be repeated here.

[0160] The update module 950 is used to update the initial control input quantity along the gradient descent direction of the performance index function approximation value based on the approximate value of the performance index function corresponding to the initial control input quantity, until the difference between two adjacent approximate values ​​of the performance index function is less than a preset threshold, thereby obtaining the target control input quantity. In one embodiment, the update module 950 can be used to perform the operation S150 described above, which will not be repeated here.

[0161] According to an embodiment of the present invention, the current kinematic parameters of each of the multiple components include the translational displacement velocity of the frame, the translational displacement velocity of the flywheel rotor, the rotational angular velocity of the frame, and the rotational angular velocity of the flywheel center of mass; the first determining module 910 includes a first determining submodule, a second determining submodule, a third determining submodule, and a fourth determining submodule. The first determining submodule is used to determine the translational displacement velocity of the frame based on the disturbance force, according to the translational displacement of the base, the static position deviation of the frame center of mass, and the dynamic displacement vector caused by the frame rotation. The disturbance force includes the reaction torque of the frame motor driving torque, the centrifugal disturbance force and torque generated by the static and dynamic imbalance of the flywheel rotor, and the gyroscopic torque generated when the frame rotation changes the direction of the flywheel rotor's angular momentum; the second determining submodule is used to determine the angular velocity of the base in a preset direction based on the angular displacement caused by the deformation of the vibration isolator in a preset direction; the third determining submodule is used to determine the angular velocity of the base in the preset direction based on the angular velocity of the base, the first transfer matrix and the second transfer matrix of the vibration isolator, the third transfer matrix of the flywheel rotor, and the frame... The fourth transfer matrix of the frame determines the rotational angular velocity of the frame and the rotational angular velocity of the flywheel's center of mass. The first transfer matrix represents the angular displacement change caused by the deformation of the vibration isolator in the first reference axis direction, the second transfer matrix represents the angular displacement change caused by the deformation of the vibration isolator in the second reference axis direction, the third transfer matrix represents the angular displacement change of the flywheel rotor spinning around its own axis, and the fourth transfer matrix represents the angular displacement change of the base rotating around the frame axis. The fourth determination submodule is used to determine the translational displacement velocity of the flywheel rotor based on the translational displacement velocity of the frame, the static position of the flywheel rotor relative to the frame, the dynamic offset of the flywheel rotor relative to the static position during the motion, and the rotational angular velocity of the frame.

[0162] According to an embodiment of the present invention, the third determining submodule includes a first determining unit and a second determining unit. The first determining unit is used to determine the rotational angular velocity of the frame based on the angular velocity of the base in a preset direction, a first transfer matrix, a second transfer matrix, and a fourth transfer matrix; the second determining unit is used to determine the rotational angular velocity of the flywheel's center of mass based on the angular velocity of the base in a second reference axis direction, a third transfer matrix, and a fourth transfer matrix, wherein the current kinematic parameters of each of the multiple components also include the angular velocity of the base in the second reference axis direction, which is determined based on the angular velocity of the base in the preset direction, the first transfer matrix, and the second transfer matrix.

[0163] According to an embodiment of the present invention, the first construction module 920 includes a fifth determining submodule, a sixth determining submodule, and a first input submodule. The fifth determining submodule is used to determine the kinetic energy of the control moment gyroscope system based on the current kinematic parameters, mass, and moment of inertia of each of the multiple components; the sixth determining submodule is used to determine the potential energy of the control moment gyroscope system based on the multi-degree-of-freedom displacement vector of the base; the first input submodule is used to input the kinetic energy, potential energy, and damping term of the control moment gyroscope system into the Lagrange equation to derive the differential equation, wherein the damping term is used to characterize the coupled dynamics.

[0164] According to an embodiment of the present invention, the above-described device further includes a third input module. The third input module is used to input the initial control input quantity into the performance index approximation network and output the approximate value of the performance index function corresponding to the initial control input quantity. The performance index function of the performance index approximation network is a linear combination of a set of basis functions. The basis functions are constructed by nonlinear transformation of the system state vector based on the control moment gyroscope system, and the combination coefficients of the linear combination are the weight parameters of the performance index approximation network.

[0165] According to an embodiment of the present invention, the weight parameters of the performance index approximation network are updated in the following manner: the gradient of the Hamiltonian approximation error relative to the weight parameters is calculated, wherein the Hamiltonian approximation error is the difference between the constraint term of the Hamiltonian equation that can be solved based on the differential equation and the Hamiltonian fitting term converted from the performance index function value output by the performance index approximation network; the weight parameters are updated along the gradient descent direction until the updated Hamiltonian approximation error is less than a preset error value.

[0166] According to an embodiment of the present invention, the above-described apparatus further includes a second construction module and a second determination module. The second construction module is used to construct a Lyapunov function based on the energy term of the weight estimation error of the performance index function and the performance index approximation network, wherein the energy term of the weight estimation error is determined based on the weight error between the current weight parameters and the expected weight parameters, and the learning rate of the performance index approximation network; the second determination module is used to determine that the state of the control moment gyroscope system is in a preset state and the weight estimation error satisfies the convergence condition when the derivative of the Lyapunov function corresponding to the current kinematic parameters of the multiple components is less than zero.

[0167] According to embodiments of the present invention, any plurality of modules among the first determining module 910, the first building module 920, the first input module 930, the second input module 940, and the updating module 950 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least a portion of the functionality of one or more of these modules may be combined with at least a portion of the functionality of other modules and implemented in one module. According to embodiments of the present invention, at least one of the first determining module 910, the first building module 920, the first input module 930, the second input module 940, and the updating module 950 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in hardware or firmware, or in any one of software, hardware, and firmware implementations, or in a suitable combination of any of these. Alternatively, at least one of the first determining module 910, the first constructing module 920, the first input module 930, the second input module 940, and the updating module 950 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0168] Figure 10 A block diagram of an electronic device suitable for implementing a vibration isolation method for a control torque gyroscope system according to an embodiment of the present invention is shown.

[0169] like Figure 10 As shown, an electronic device 1000 according to an embodiment of the present invention includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0170] RAM 1003 stores various programs and data required for the operation of electronic device 1000. Processor 1001, ROM 1002, and RAM 1003 are interconnected via bus 1004. Processor 1001 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 1002 and / or RAM 1003. It should be noted that the programs may also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0171] According to an embodiment of the present invention, the electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to a bus 1004. The electronic device 1000 may also include one or more of the following components connected to the input / output (I / O) interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the input / output (I / O) interface 1005 as needed. A removable medium 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1010 as needed so that computer programs read from it can be installed into the storage section 1008 as needed.

[0172] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0173] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of the present invention, a computer-readable storage medium may include ROM 1002 and / or RAM 1003 and / or one or more memories other than ROM 1002 and RAM 1003 described above.

[0174] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to enable the computer system to implement the vibration isolation method for the control moment gyroscope system provided in the embodiments of the present invention.

[0175] When the computer program is executed by the processor 1001, it performs the functions defined in the system / apparatus of this invention. According to embodiments of the invention, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0176] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 1009, and / or installed from a removable medium 1011. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0177] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, it performs the functions defined in the system of this embodiment of the invention. According to embodiments of the invention, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0178] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0179] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0180] Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0181] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A vibration isolation method for a control moment gyroscope system, characterized by, The method includes: Based on the disturbance forces experienced by multiple components in the control moment gyroscope system during operation, the current kinematic parameters of each component are determined. The multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics, which is used to suppress the vibration of the control moment gyroscope. Based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system, a differential equation characterizing the dynamic relationship of the control moment gyroscope system is constructed. The system state vector of the control moment gyroscope system is input into the perturbation estimation network, and the perturbation estimate of the control moment gyroscope system is output. The system state vector is input into the differential equation to obtain the theoretical value of the perturbation. The system state vector is determined based on the multi-degree-of-freedom displacement vector of the base in the multiple components. The disturbance estimate and the disturbance theory are input into the Hamiltonian function to obtain the initial control input of the vibration isolator under the condition that the Hamiltonian function value satisfies the preset constraints. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theory. Based on the approximate value of the performance index function corresponding to the initial control input, the initial control input is updated along the gradient descent direction of the approximate value of the performance index function until the difference between two adjacent approximate values ​​of the performance index function is less than a preset threshold, thus obtaining the target control input.

2. The method of claim 1, wherein, The plurality of components also include: The base has a vibration isolator installed inside it, the upper end of the base is mechanically connected to the frame, and the lower end of the base is installed on the spacecraft platform. The flywheel rotor is installed inside the frame of the ring support structure and can rotate around its own axis; The frame is hinged to the base at both ends via frame shafts and can rotate relative to the base about the frame shafts to adjust the angular momentum direction of the flywheel rotor.

3. The method of claim 2, wherein, The current kinematic parameters of each of the multiple components include the translational displacement velocity of the frame, the translational displacement velocity of the flywheel rotor, the rotational angular velocity of the frame, and the rotational angular velocity of the flywheel center of mass. The method for determining the current kinematic parameters of multiple components based on the disturbance forces experienced by these components during operation in the control moment gyroscope system includes: Based on the disturbance force, the translational displacement velocity of the frame is determined according to the translational displacement of the base, the static position deviation of the frame's center of mass, and the dynamic displacement vector caused by the rotation of the frame. The disturbance force includes the reaction torque of the frame motor driving torque, the centrifugal disturbance force and torque generated by the static and dynamic imbalance of the flywheel rotor, and the gyroscopic torque generated when the frame rotates and changes the direction of the flywheel rotor's angular momentum. The angular velocity of the base in the preset direction is determined based on the angular displacement caused by the deformation of the vibration isolator in the preset direction. Based on the angular velocity of the base in a preset direction, the first transfer matrix and the second transfer matrix of the vibration isolator, the third transfer matrix of the flywheel rotor, and the fourth transfer matrix of the frame, the rotational angular velocity of the frame and the rotational angular velocity of the flywheel's center of mass are determined. The first transfer matrix represents the angular displacement change caused by deformation of the vibration isolator in the first reference axis direction; the second transfer matrix represents the angular displacement change caused by deformation of the vibration isolator in the second reference axis direction; the third transfer matrix represents the angular displacement change of the flywheel rotor as it spins around its own axis; and the fourth transfer matrix represents the angular displacement change of the base as it rotates around the frame axis. The translational displacement velocity of the flywheel rotor is determined based on the translational displacement velocity of the frame, the static position of the flywheel rotor relative to the frame, the dynamic offset of the flywheel rotor relative to the static position during the motion, and the rotational angular velocity of the frame.

4. The method according to claim 3, characterized in that, The step of determining the rotational angular velocity of the frame and the rotational angular velocity of the flywheel's center of mass based on the angular velocity of the base in a preset direction, the first and second transfer matrices of the vibration isolator, the third transfer matrix of the flywheel rotor, and the fourth transfer matrix of the frame includes: The rotational angular velocity of the frame is determined based on the angular velocity of the base in a preset direction, the first transfer matrix, the second transfer matrix, and the fourth transfer matrix. The rotational angular velocity of the flywheel's center of mass is determined based on the angular velocity of the base in the direction of the second reference axis, the third transfer matrix, and the fourth transfer matrix. The current kinematic parameters of each of the plurality of components also include the angular velocity of the base in the direction of the second reference axis, which is determined based on the angular velocity of the base in a preset direction, the first transfer matrix, and the second transfer matrix.

5. The method according to claim 1, characterized in that, Based on the current kinematic parameters of each of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system, differential equations characterizing the dynamic relationships of the control moment gyroscope system are constructed, including: The kinetic energy of the control torque gyroscope system is determined based on the current kinematic parameters, mass, and moment of inertia of each of the multiple components. The potential energy of the control torque gyroscope system is determined based on the multi-degree-of-freedom displacement vector of the base. By inputting the kinetic energy, potential energy, and damping term of the control torque gyroscope system into the Lagrange equation, the differential equation is derived, wherein the damping term is used to characterize the coupled dynamic characteristics.

6. The method according to claim 1, characterized in that, The method further includes: The initial control input is input into the performance index approximation network, and the approximate value of the performance index function corresponding to the initial control input is output. The performance index function of the performance index approximation network is a linear combination of a set of basis functions. The basis functions are constructed based on the nonlinear transformation of the system state vector of the control torque gyroscope system. The combination coefficients of the linear combination are the weight parameters of the performance index approximation network.

7. The method according to claim 6, characterized in that, The performance metric approximates the network's weight parameters based on the following update method: Calculate the gradient of the Hamilton approximation error relative to the weight parameters, wherein the Hamilton approximation error is the difference between the constraint term of the Hamilton equation that can be solved based on the differential equation and the Hamilton fitting term obtained by converting the performance index function value output by the performance index approximation network. The weight parameters are updated along the gradient descent direction until the updated Hamiltonian approximation error is less than a preset error value.

8. The method according to claim 6, characterized in that, The method further includes: Based on the performance index function and the energy term of the weight estimation error of the performance index approximation network, a Lyapunov function is constructed, wherein the energy term of the weight estimation error is determined based on the weight error between the current weight parameters and the expected weight parameters, and the learning rate of the performance index approximation network. If the derivative of the Lyapunov function corresponding to the current kinematic parameters of each of the plurality of components is less than zero, it is determined that the state of the control torque gyroscope system is in a preset state and the weight estimation error satisfies the convergence condition.

9. A control torque gyroscope system, characterized in that, The system includes: Vibration isolators; The base has vibration isolators installed inside it, the upper end of the base is mechanically connected to the frame, and the lower end of the base is installed on the spacecraft platform. The flywheel rotor is installed inside the frame of the ring support structure and can rotate around its own axis; The frame is hinged to the base at both ends via frame shafts and can rotate relative to the base about the frame shafts to adjust the angular momentum direction of the flywheel rotor. A controller for performing the method according to any one of claims 1 to 8.

10. A vibration isolation device for a control torque gyroscope system, characterized in that, The device includes: The first determining module is used to determine the current kinematic parameters of each of the multiple components in the control moment gyroscope system based on the disturbance forces experienced by the multiple components during operation. The multiple components include a control moment gyroscope and a vibration isolator with flexible characteristics. The vibration isolator is used to suppress the vibration of the control moment gyroscope. The first construction module is used to construct differential equations characterizing the dynamic relationship of the control moment gyroscope system based on the current kinematic parameters of the multiple components and the coupled dynamic characteristics of the control moment gyroscope system. The first input module is used to input the system state vector of the control moment gyroscope system into the disturbance estimation network and output the disturbance estimate value of the control moment gyroscope system; input the system state vector into the differential equation to obtain the theoretical value of the disturbance, wherein the system state vector is determined based on the displacement vector of the base; The second input module is used to input the disturbance estimate and the disturbance theoretical value into the Hamiltonian function to obtain the initial control input of the vibration isolator corresponding to the Hamiltonian function value satisfying the preset constraint condition. The Hamiltonian function is obtained by taking the partial derivative of the performance index function with respect to the time variable. The performance index function is constructed based on the differential equation and the disturbance error between the disturbance estimate and the disturbance theoretical value. The update module is used to update the initial control input quantity along the gradient descent direction of the performance index function approximation value based on the performance index function approximation value corresponding to the initial control input quantity, until the difference between two adjacent performance index function approximations is less than a preset threshold, thereby obtaining the target control input quantity.

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