A method and device for suppressing structural modal resonance of a CMG in orbit

Abstract

The application discloses a CMG on-orbit structure modal resonance suppression method and device, and belongs to the field of satellite attitude control. The method comprises the following steps: S1, modal identification is performed on the output rotating speed of a CMG frame control system subjected to white noise excitation, so that resonance peak frequency, resonance energy and damping ratio of the CMG frame control system are obtained; S2, a resonance suppression model is established according to the resonance peak frequency and the damping ratio; S3, resonance suppression is performed on the CMG frame control system according to the resonance suppression model; S4, modal identification is performed on the output rotating speed subjected to the resonance suppression, so that resonance residual peak frequency, resonance residual energy and damping ratio after the resonance suppression are obtained; and S5, it is judged whether the resonance residual energy is greater than a prior energy threshold value, if yes, parameter correction is performed on the resonance suppression model according to the resonance data before and after the suppression, and steps S3-S5 are repeated by using the corrected resonance suppression model until the resonance residual energy is less than the prior energy threshold value. The application can realize accurate tracking and suppression of the CMG modal resonance frequency.

Description

Technical Field

[0001] This invention relates to the field of satellite attitude control technology, and in particular to a method and apparatus for suppressing on-orbit structural modal resonances of a CMG. Background Technology

[0002] Control moment gyroscopes (CMGs) are the primary actuators in the attitude control systems of large spacecraft and agile satellites. Due to their torque amplification characteristics, rapid dynamic response, and high output torque accuracy, CMGs are widely used in aerospace control, particularly on large satellite platforms. With the continuous expansion of space missions, high-precision observation satellites, such as remote sensing and high-resolution satellites, place increasingly higher demands on the accuracy and stability of spacecraft attitude control. Therefore, as the primary actuator for spacecraft attitude control, the requirements for the accuracy and stability of the CMG framework control are also becoming increasingly stringent.

[0003] In related technologies, CMGs generally need to be installed on flexible devices, which increases the multi-structure modal characteristics of the CMG system and easily leads to resonance in the CMG frame control system. Existing electromechanical servo system resonance suppression methods are computationally complex, cannot self-track, and mostly ignore the comprehensive stiffness effect of introducing a resonance suppressor on the original control system, resulting in inaccurate resonance frequency suppression.

[0004] Therefore, there is an urgent need for a method and device for suppressing on-orbit structural modal resonances of CMG to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a method and apparatus for suppressing on-orbit structural modal resonances of a CMG (Continuous Governing Vessel), which can achieve precise tracking and suppression of CMG modal resonance frequencies. The technical solution is as follows:

[0006] On the one hand, a method for suppressing on-orbit structural modal resonances of CMG is provided, the method comprising:

[0007] S1. Modal identification is performed on the output speed of the CMG frame control system under white noise excitation to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system.

[0008] S2. Establish a resonance suppression model based on the resonant peak frequency and damping ratio;

[0009] S3. Resonance suppression is performed on the CMG frame control system based on the resonance suppression model;

[0010] S4. Perform mode identification on the output speed after resonance suppression to obtain the residual peak frequency, residual energy and damping ratio of the resonance after resonance suppression;

[0011] S5. Determine whether the residual energy of the resonance is greater than the prior energy threshold. If so, modify the parameters of the resonance suppression model based on the resonance peak frequency, resonance energy and damping ratio before and after suppression, and repeat steps S3-S5 using the modified resonance suppression model until the residual energy of the resonance is less than the prior energy threshold.

[0012] On the other hand, a CMG on-orbit structural modal resonance suppression device is provided, the device comprising:

[0013] The first identification module is used to perform modal identification on the output speed of the CMG frame control system under white noise excitation, and to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system.

[0014] The modeling module is used to establish a resonance suppression model based on the resonant peak frequency and damping ratio.

[0015] A suppression module is used to suppress resonance in the CMG frame control system according to the resonance suppression model.

[0016] The second identification module is used to perform mode identification on the output speed after resonance suppression to obtain the residual peak frequency, residual energy and damping ratio of the resonance after resonance suppression.

[0017] The judgment module is used to determine whether the resonant residual energy is greater than the prior energy threshold. If so, the parameters of the resonant suppression model are corrected according to the resonant peak frequency, resonant energy and damping ratio before and after suppression. The functions of the suppression module, the second identification module and the judgment module are repeatedly executed using the corrected resonant suppression model until the resonant residual energy is less than the prior energy threshold.

[0018] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the above-described CMG on-orbit structural modal resonance suppression method.

[0019] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, the steps of the above-described CMG on-orbit structural modal resonance suppression method are implemented.

[0020] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the CMG on-orbit structural modal resonance suppression method described above.

[0021] The technical solution provided by this invention can bring at least the following beneficial effects: First, modal identification is performed on the output speed of the CMG frame control system to obtain its resonance information. Then, the resonance information is input into a preset suppression model to suppress the system's resonance frequency. Simultaneously, during multiple suppression processes, parameters are corrected by comparing the identified resonance frequency and damping ratio before and after suppression, and the residual resonance quantity is tracked in a closed loop until the system's resonance energy is suppressed below the energy threshold of the Xi'an test. This method, through multiple modal identifications and resonance frequency corrections, can eliminate the residual resonance quantity, achieving accurate identification and suppression of the resonance frequency. Furthermore, the use of a simple notch filter for closed-loop tracking of the resonance frequency ensures less computation and does not affect the stability of the original control system. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a CMG on-orbit structural modal resonance suppression method provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the suppression principle of the CMG frame control system provided in an embodiment of the present invention;

[0025] Figure 3 This is a structural diagram of a CMG on-orbit structural modal resonance suppression device provided in an embodiment of the present invention;

[0026] Figure 4 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] As mentioned earlier, existing methods for suppressing resonance in electromechanical servo systems are computationally complex, cannot perform closed-loop tracking suppression, and mostly ignore the system resonance frequency shift caused by the introduction of resonance suppression to the original control system, resulting in inaccurate resonance frequency suppression.

[0029] Based on this, the concept of the present invention is to perform closed-loop suppression on the CMG frame control system based on a preset resonance suppression model, and to improve the accuracy of resonance frequency suppression by modifying the parameters according to the resonance frequencies before and after suppression.

[0030] The following describes the specific implementation of the above concept.

[0031] Please refer to Figure 1 This invention provides a method for suppressing on-orbit structural modal resonances of a CMG, comprising:

[0032] S1. Modal identification is performed on the output speed of the CMG frame control system under white noise excitation to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system.

[0033] S2. Establish a resonance suppression model based on the resonant peak frequency and damping ratio;

[0034] S3. Resonance suppression is performed on the CMG frame control system based on the resonance suppression model;

[0035] S4. Perform mode identification on the output speed after resonance suppression to obtain the residual peak frequency, residual energy and damping ratio of the resonance after resonance suppression;

[0036] S5. Determine whether the residual energy of the resonance is greater than the prior energy threshold. If so, modify the parameters of the resonance suppression model based on the resonance peak frequency, resonance energy and damping ratio before and after suppression, and repeat steps S3-S5 using the modified resonance suppression model until the residual energy of the resonance is less than the prior energy threshold.

[0037] In this embodiment of the invention, the output speed of the CMG frame control system is first modally identified to obtain its resonance information. Then, the resonance information is input into a preset suppression model to suppress the system's resonance frequency. Simultaneously, during multiple suppression processes, parameters are corrected by comparing the identified resonance frequency and damping ratio before and after suppression, and the residual resonance is tracked in a closed loop until the system's resonance energy is suppressed below the energy threshold set by the Xi'an Interpreter. This method, through multiple modal identifications and resonance frequency corrections, can eliminate the residual resonance, achieving accurate identification and suppression of the resonance frequency. Furthermore, the use of a simple notch filter for closed-loop tracking of the resonance frequency ensures less computation and does not affect the stability of the original control system.

[0038] The following description Figure 1 The execution method for each step is shown.

[0039] First, for step S1, modal identification is performed on the output speed of the CMG frame control system with applied white noise excitation to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system.

[0040] In this embodiment of the invention, the output speed is output by the servo control module of the CMG frame control system, such as... Figure 2 As shown, this module includes a speed loop controller, a current loop controller, a power amplifier, a servo motor, and a CMG frame load. The difference between the command angular velocity Vel_r and the feedback angular velocity Vel_cal is obtained as Vel_err. This Vel_err is then passed through the speed loop controller to obtain the speed loop control quantity Vel_ctr. The speed loop control quantity is subtracted from the feedback current iq to obtain I_err. This I_err is then passed through the current loop controller to obtain the current loop control quantity I_ctr. The current loop control quantity is amplified and sent to the CMG frame servo motor to drive the CMG frame to track the command angular velocity Vel_r.

[0041] Furthermore, the CMG frame control system is also equipped with a white noise excitation module, which is used to apply white noise excitation to the speed loop of the CMG frame control system. This module uses the multiplicative congruence method to generate a pseudo-random number sequence of standard uniform distribution U(0,1). The mean of the pseudo-random number sequence is set to 0. The white noise signal is added to the speed loop of the CMG closed-loop control system, thereby effectively exciting the multi-order structural modal resonance caused by factors such as flexible support in the CMG frame system, so as to obtain the output speed containing resonance information.

[0042] In this embodiment of the invention, modal identification is performed on the output rotational speed to obtain the resonant peak frequency, damping ratio, and resonant energy of the CMG frame control system. This includes: sampling the output rotational speed according to a preset sampling frequency and number of sampling groups, and performing a fast Fourier transform on the sampled data; performing spectral analysis on the results of the fast Fourier transform to determine the frequency at the maximum amplitude in the fast Fourier transform results as the resonant peak frequency, the ratio of the half-power bandwidth to twice the resonant peak frequency as the damping ratio, and the sum of the amplitudes between the positions where the amplitude drops to 0.1 times the peak value on both sides of the resonant peak as the resonant energy.

[0043] Specifically, the CMG frame rotation speed command value Vel_r is set to 1° / s, the modal identification module samples the CMG frame output rotation speed, and the sampling frequency f is set. s =100Hz, collect N=2048 sets of rotational speed data, frequency resolution f r =f s / N = 0.0488. The output rotational speed of the CMG frame was analyzed using Fast Fourier Transform (FFT). The FFT calculation formula is as follows:

[0044]

[0045] in, X is a variable related to n and k; x is the rotational speed sampling data; X(k) is the output of the fast Fourier transform; n is an integer from 0 to N / 2-1.

[0046] By performing spectral analysis on the N sets of results obtained after the Fast Fourier Transform, the resonant frequency f was determined. m The frequency at the maximum amplitude in the N sets of results obtained by FFT, and the damping (Δf is the half-power bandwidth), and the resonant energy E is the sum of the amplitudes between the positions where the amplitude drops to 0.1 times the peak value on both sides of the resonant peak value.

[0047] By processing the output speed of the CMG frame control system using the above method, the resonance information of the CMG frame control system can be obtained.

[0048] Then, for step S2, a resonance suppression model is established based on the resonant peak frequency and damping ratio.

[0049] In this embodiment of the invention, the resonance suppression model is established in the following manner:

[0050] The S-domain transfer function of the resonance suppression model is established based on the resonant peak frequency and damping ratio, and the corresponding state-space expression is generated based on the S-domain transfer function.

[0051] Specifically, the resonance suppression model uses a simple notch filter, which is easy to implement on a computer, and the S-domain transfer function is established by the following formula:

[0052]

[0053] In the formula, w p The center frequency of the notch filter, i.e., the resonant peak frequency f. m ε is the damping ratio coefficient; k is the adjustment coefficient, which can be used to adjust the system's filter point and filter depth by configuring different adjustment coefficients; Y(s) is the S-domain output of the resonance suppression model; U(s) is the S-domain input of the resonance suppression model.

[0054] Next, the corresponding state-space expression is generated based on the S-domain transfer function:

[0055]

[0056] In the formula, u is the time-domain input of the resonance suppression model; x is the state-space quantity; y is the first derivative of x; y is the time-domain output of the resonance suppression model.

[0057] The expressions for state matrices A, B, C, and D are as follows:

[0058]

[0059]

[0060] C = [0 2εw p -2k∈w p ]

[0061] D = 1.

[0062] Discretize the state equations of the state-space expression to obtain the discretized recursive formulas for the state-space quantities.

[0063] Specifically, based on the state-space expression, the state equation can be obtained as shown in the following formula:

[0064]

[0065] Discretizing the above equation using the Euler method yields the following discretized recursive formulas for the state-space quantities:

[0066]

[0067] In the formula, n is the number of recursions; h is the discretization step size;

[0068] Substituting the discretized state-space recursive formula into the state-space expression for calculation, we obtain the output expression of the resonance suppression model:

[0069] y(n)=(2εw p -2kεw p x²(n) + u(n)

[0070] In the formula, y(n) is the output of the resonance suppression model; u(n) is the input of the resonance suppression model; and x2 is the time-domain state-space quantity.

[0071] For step S3, resonance suppression is performed on the CMG frame control system according to the resonance suppression model.

[0072] In embodiments of the present invention, such as Figure 2 As shown, the resonance suppression process includes: acquiring the speed loop control quantity output by the speed loop controller of the CMG frame control system; inputting the speed loop control quantity into the resonance suppression model and outputting the resonance-suppressed speed loop control quantity; the speed loop control quantity is passed through the current loop controller to obtain the current loop control quantity, and the current loop control quantity is amplified and sent to the CMG frame servo motor to drive the CMG frame to track the command angular velocity.

[0073] For step S4, the mode identification is performed on the output speed after the resonance suppression to obtain the resonance residual peak frequency, resonance residual energy and damping ratio after resonance suppression.

[0074] In this embodiment of the invention, the execution process of this step is the same as that of step S1. The output speed after resonance suppression is re-processed as described in step S1 to obtain the resonance residual peak frequency, resonance residual energy and damping ratio after resonance suppression.

[0075] For step S5, determine whether the resonant residual energy is greater than the prior energy threshold. If so, modify the parameters of the resonant suppression model based on the resonant peak frequency, resonant energy and damping ratio before and after suppression, and repeat steps S3-S5 using the modified resonant suppression model until the resonant residual energy is less than the prior energy threshold.

[0076] In this embodiment of the invention, it is determined whether the residual energy of the resonant frequency after suppression is greater than the prior energy threshold. If it is less than the threshold, it means that the suppression is successful and the system has returned to a stable state. Otherwise, it means that the suppression is unsuccessful and the resonant frequency suppression needs to continue.

[0077] However, the introduction of the resonance suppression model into the CMG control system may affect the overall stiffness of the original control system, causing a slight shift in the resonant frequency of the system after the introduction of the resonance suppressor, resulting in a small-energy level of resonant residual quantity.

[0078] To address this issue, the parameters need to be corrected before a new round of resonance suppression. The correction methods include: calculating the corrected resonance peak frequency by weighted averaging the resonant peak frequency before and after suppression; and calculating the corrected damping ratio by weighted averaging the damping ratio before and after suppression.

[0079] Specifically, the resonant peak frequency f is corrected. m It is calculated using the following formula:

[0080]

[0081] Where E1 is the resonant energy before resonance suppression; E2 is the residual resonant energy; f m1 f is the resonant peak frequency before resonance suppression; m2 This is the residual resonant peak frequency;

[0082] The corrected damping ratio ε' is calculated using the following formula:

[0083]

[0084] Where ε1 is the damping ratio before resonance suppression; ε2 is the damping ratio after resonance suppression.

[0085] The corrected identification frequency and damping are then fed back into the resonance suppression model, and modal identification and resonance frequency identification and correction are continuously performed. The closed-loop tracking of the resonance residual is continued until the system resonance energy E is suppressed to the prior energy threshold E. threshold At this point, parameter correction will be stopped.

[0086] It is worth noting that in the above process, if E > E threshold Then continue with parameter correction and white noise injection; if E <E threshold If this indicates that the system's resonant energy has been suppressed below the prior energy threshold, then parameter correction and white noise injection should be stopped.

[0087] Please refer to Figure 3 This invention provides an on-orbit structural modal resonance suppression device for CMG, the device comprising:

[0088] The first identification module 300 is used to perform modal identification on the output speed of the CMG frame control system under white noise excitation, and to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system.

[0089] Modeling module 302 is used to establish a resonance suppression model based on the resonant peak frequency and damping ratio;

[0090] Suppression module 304 is used to suppress resonance in the CMG frame control system according to the resonance suppression model;

[0091] The second identification module 306 is used to perform the mode identification on the output speed after the resonance suppression to obtain the resonance residual peak frequency, resonance residual energy and damping ratio after resonance suppression.

[0092] The judgment module 308 is used to determine whether the resonant residual energy is greater than the prior energy threshold. If so, the parameters of the resonant suppression model are corrected according to the resonant peak frequency, resonant energy and damping ratio before and after suppression. The functions of the suppression module, the second identification module and the judgment module are repeatedly executed using the corrected resonant suppression model until the resonant residual energy is less than the prior energy threshold.

[0093] In this embodiment of the invention, modal identification is performed on the output rotational speed to obtain the resonant peak frequency, damping ratio, and resonant energy of the CMG frame control system, including:

[0094] The output rotational speed is sampled according to a preset sampling frequency and number of sampling groups, and the sampled data is subjected to a fast Fourier transform.

[0095] Spectral analysis of the results of the Fast Fourier Transform (FFT) was performed to determine the frequency at the maximum amplitude in the FFT results as the resonant peak frequency, the ratio of the half-power bandwidth to twice the resonant peak frequency as the damping ratio, and the sum of the amplitudes between the positions on both sides of the resonant peak and the position where the amplitude drops to 0.1 times the peak value as the resonant energy.

[0096] In this embodiment of the invention, establishing a resonance suppression model based on the resonant peak frequency and damping ratio includes:

[0097] The S-domain transfer function of the resonance suppression model is established based on the resonant peak frequency and damping ratio:

[0098]

[0099] Where Y(s) is the S-domain output of the resonance suppression model; U(s) is the S-domain input of the resonance suppression model;

[0100] Generate the corresponding state-space expression based on the S-domain transfer function:

[0101]

[0102] Where u is the time-domain input of the resonance suppression model; x is the state-space quantity; Let x be the first derivative of x; y be the time-domain output of the resonance suppression model; A, B, C, and D are all state matrices;

[0103] Determine the corresponding state equation based on the state-space expression:

[0104]

[0105] Discretize the state equations to obtain the discretized recursive formulas for the state-space quantities:

[0106]

[0107] Where n is the number of recursions; h is the discretization step size;

[0108] Substituting the discretized state-space recursive formula into the state-space expression for calculation, the output expression y(n) of the resonance suppression model is obtained:

[0109] y(n)=(2εw p -2kεw p x²(n) + u(n)

[0110] Among them, w p ε is the center frequency of the notch filter, which is also the resonant peak frequency; k is the damping ratio; u(n) is the adjustment coefficient; and u(n) is the input of the resonant suppression model.

[0111] In this embodiment of the invention, the resonance suppression of the CMG frame control system using the resonance suppression model includes:

[0112] Obtain the speed loop control quantity output by the speed loop controller of the CMG frame control system;

[0113] The speed loop control quantity is input into the resonance suppression model, and the speed loop control quantity after resonance suppression is output.

[0114] The speed loop control quantity is passed through the current loop controller to obtain the current loop control quantity. The current loop control quantity is then amplified and sent to the CMG frame servo motor to drive the CMG frame to track the command angular velocity.

[0115] In this embodiment of the invention, the step of correcting the parameters of the resonance suppression model based on the resonant peak frequency, resonant energy, and damping ratio before and after suppression includes:

[0116] The corrected resonant peak frequency is calculated by weighting the resonant peak frequency before suppression and the residual resonant peak frequency after suppression.

[0117] The corrected damping ratio is calculated by weighted averaging the damping ratio before and after suppression.

[0118] In this embodiment of the invention, the corrected resonant peak frequency f′ m It is calculated using the following formula:

[0119]

[0120] Where E1 is the resonant energy before resonance suppression; E2 is the residual resonant energy; f m1 f is the resonant peak frequency before resonance suppression; m2 This is the residual resonant peak frequency;

[0121] The corrected damping ratio ε' is calculated using the following formula:

[0122]

[0123] Where ε1 is the damping ratio before resonance suppression; ε2 is the damping ratio after resonance suppression.

[0124] It should be noted that the CMG on-orbit structural modal resonance suppression device provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the CMG on-orbit structural modal resonance suppression device and the CMG on-orbit structural modal resonance suppression method embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0125] Embodiments of this application also provide a computer device, please refer to... Figure 3 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the CMG on-orbit structural modal resonance suppression method provided in the above-described method embodiments.

[0126] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the CMG on-orbit structural modal resonance suppression method provided in the above-described method embodiments.

[0127] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the CMG on-orbit structural modal resonance suppression methods described in the above embodiments.

[0128] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0129] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0130] Finally, it should be noted that in this document, relational terms such as previous, current, third, and fourth are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0131] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for suppressing on-orbit structural modal resonances of a CMG, characterized in that, The method includes: S1. Modal identification is performed on the output speed of the CMG frame control system under white noise excitation to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system. S2. Establish a resonance suppression model based on the resonant peak frequency and damping ratio, including: the S-domain transfer function of the resonance suppression model based on the resonant peak frequency and damping ratio. in, This represents the S-domain output of the resonance suppression model. This is the S-domain input of the resonance suppression model; Generate the corresponding state-space expression based on the S-domain transfer function: in, u This is the time-domain input of the resonance suppression model; x For state space quantities; for x The first derivative; y This represents the time-domain output of the resonance suppression model; A , B , C , D Both are state matrices; Determine the corresponding state equation based on the state-space expression: Discretize the state equations to obtain the discretized recursive formulas for the state-space quantities: in, n h is the recursion number; h is the discretization step size; Substituting the discretized state-space recursive formulas into the state-space expression for calculation, the output expression of the resonance suppression model is obtained. : in, w p This is the center frequency of the notch filter, which is also the resonant peak frequency; ε The damping ratio; k This is the adjustment coefficient; This is the input to the resonance suppression model; S3. Resonance suppression of the CMG frame control system according to the resonance suppression model includes: obtaining the speed loop control quantity output by the speed loop controller of the CMG frame control system; The speed loop control quantity is input into the resonance suppression model, and the speed loop control quantity after resonance suppression is output. The speed loop control quantity is passed through the current loop controller to obtain the current loop control quantity. The current loop control quantity is then amplified by power and sent to the CMG frame servo motor to drive the CMG frame to track the command angular velocity. S4. Perform mode identification on the output speed after resonance suppression to obtain the residual peak frequency, residual energy and damping ratio of the resonance after resonance suppression; S5. Determine whether the residual energy of the resonance is greater than the prior energy threshold. If so, adjust the parameters of the resonance suppression model based on the resonance peak frequency, resonance energy, and damping ratio before and after suppression, including: The corrected resonant peak frequency is calculated by weighting the resonant peak frequency before suppression and the residual resonant peak frequency after suppression. The corrected damping ratio is calculated by weighted averaging the damping ratio before and after suppression. Then, using the modified resonance suppression model, repeat steps S3-S5 until the resonance residual energy is less than the prior energy threshold.

2. The method as described in claim 1, characterized in that, Modal identification of the output speed yields the resonant peak frequency, damping ratio, and resonant energy of the CMG frame control system, including: The output rotational speed is sampled according to a preset sampling frequency and number of sampling groups, and the sampled data is subjected to a fast Fourier transform. Spectral analysis of the results of the Fast Fourier Transform (FFT) was performed to determine the frequency at the maximum amplitude in the FFT results as the resonant peak frequency, the ratio of the half-power bandwidth to twice the resonant peak frequency as the damping ratio, and the sum of the amplitudes between the positions on both sides of the resonant peak and the position where the amplitude drops to 0.1 times the peak value as the resonant energy.

3. The method as described in claim 1, characterized in that, The corrected resonant peak frequency It is calculated using the following formula: in, The resonant energy before resonance suppression; This is the residual resonant energy; This is the resonant peak frequency before resonance suppression; This is the residual resonant peak frequency; The corrected damping ratio It is calculated using the following formula: in, The damping ratio before resonance suppression; This is the damping ratio after resonance suppression.

4. A CMG on-orbit structural modal resonance suppression device, characterized in that, The apparatus, used in the method as described in any one of claims 1-3, comprises: The first identification module is used to perform modal identification on the output speed of the CMG frame control system under white noise excitation, and to obtain the resonant peak frequency, resonant energy and damping ratio of the CMG frame control system. The modeling module is used to establish a resonance suppression model based on the resonant peak frequency and damping ratio. A suppression module is used to suppress resonance in the CMG frame control system according to the resonance suppression model. The second identification module is used to perform mode identification on the output speed after resonance suppression to obtain the residual peak frequency, residual energy and damping ratio of the resonance after resonance suppression. The judgment module is used to determine whether the resonant residual energy is greater than the prior energy threshold. If so, the parameters of the resonant suppression model are corrected according to the resonant peak frequency, resonant energy and damping ratio before and after suppression. The functions of the suppression module, the second identification module and the judgment module are repeatedly executed using the corrected resonant suppression model until the resonant residual energy is less than the prior energy threshold.

5. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-3.

7. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-3.

Images