【作者】 胡庆雷；

【导师】 马广富；

【作者基本信息】 哈尔滨工业大学 ， 导航、制导与控制， 2006， 博士

【摘要】 航天器挠性结构的主动振动控制技术是大型航天器姿态控制系统设计的关键技术。本学位论文结合高等学校博士学科点专项科研基金“挠性多体结构卫星主动振动控制技术研究”(20050213010)课题,从理论上对粘贴有压电智能元件的挠性航天器的建模、姿态控制和主动振动控制理论等展开了深入的研究,其研究内容主要包括以下几个方面:利用Hamilton原理推导了挠性航天器的动力学模型、压电元件的作动方程及检测方程,并采用模态分析方法,进一步将挠性航天器的耦合方程规范化,使之适应于姿态控制系统的分析和设计。另外,为了将分力合成方法应用于挠性系统的振动抑制,简要地介绍了分力合成方法的一些基本概念及原理。针对采用推力器作为执行机构的挠性航天器姿态机动的振动抑制问题,提出了将分力合成振动抑制(CSVS)方法和基于分布压电元件(PZT)的主动振动抑制技术相结合的一种复合主动控制方法。通过将脉冲调宽调频调制(PWPF)技术应用到推力器的控制中,克服了设计CSVS各正负交替分力的作用时刻的困难;为了进一步抑制挠性结构的振动,采用分布式PZT作为作动器,给出了一种最优PPF补偿器的设计方法,从而大大减少了系统设计的盲目性。最后,在仿真分析中,将提出方法与时间—燃料最优机动控制方法进行了详细的分析和比较,结果表明该复合控制方法可以有效地抑制挠性模态的振动的同时提高航天器的指向精度。针对挠性航天器的动力学模型存在着模型不确定性因素以及外部扰动的作用的鲁棒控制问题,提出了将变结构输出反馈控制应用于挠性航天器的大角度机动控制中。设计的控制器仅利用输出信息,从而避免设计挠性模态状态观测器以及引入状态观测器误差;在此基础上,采用分力合成方法设计命令成形控制器来抑制挠性附件的振动,设计的优化命令成形控制信号在理论上可以对系统的各阶挠性模态完全抑制。但考虑到模型不确定性和外部扰动,在内回路又设计了最优正位置反馈(OPPF)补偿器以增加挠性结构的阻尼,使挠性结构的振动能够很快衰减。仿真结果表明,该方法可以有效地抑制挠性机构的振动,对模型不确定以及外部干扰具有很强的抑制能力。针对带有非线性输入(饱和/死区特性)的挠性航天器姿态控制问题,设计了变结构输出反馈控制器,给出了滑模存在条件以及控制器的两种设计方更多还原

【Abstract】 Active vibration control technique is the key technology of designing of attitude control system for large flexible spacecraft to fulfill mission requirements such as precision pointing and integrity of structures. Based on the requirements of high precision pointing/targeting of advanced spacecraft, dynamic modeling of spacecraft with flexible appendages bonded with piezoelectric sensors/actuators, attitude control and active vibration suppression theory are studied deeply in this dissertation, which is funded by the Research Fund for the Doctoral Program of Higher Education of China Item—“Large flexible multi-bodies structure spacecraft active vibration control technology”(20050213010). The main contents of this dissertation are as the follows:An approximate analytical dynamic model of a flexible spacecraft with surface bonded piezoelectric sensors and actuators is derived using Hamilton’s principle with discretization by the assumed mode method. The model is then converted to state-space form for the purpose of control design. In addition, the principle of Component Synthesis Vibration Suppressing (CSVS) method is also briefly introduced and summarized to several lemmas, which can suppress flexible vibration by utilizing the character of vibration system itself and has the characters of simple, multiform, easy to apply and so on. All these are the foundation of the latter control system design and the software developed.A hybrid control scheme of CSVS method and the technology of active vibration suppression using piezoelectric materials is proposed for the vibration control of a flexible spacecraft actuated by on-off thrusters. The proposed control system includes the attitude controller acting on the rigid hub, designed by using pulse-width pulse-frequency (PWPF) modulation integrated with command shaping technique based on CSVS method, and the piezoelectric material elements as sensors/actuators bonded on the surface of the beam appendages, designed by the optimal positive position feedback (OPPF) control technique, in which the selection of PPF gains is determined via introducing a cost function to be minimized by feedback gains which are subject to the stability criterion at the更多还原