基于Stewart平台的星上微振动主动隔离/抑制  

Active Isolation/Suppression for Satellite Micro-vibration with Stewart Platform

作　　者：李伟鹏[1] 黄海[1] 黄舟[1] 

机构地区：[1]北京航空航天大学宇航学院,北京100191

出　　处：《机械科学与技术》2015年第4期629-635,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(11302010);中国空间技术研究院CAST基金项目(CAST201204)资助

摘　　要：针对星上微振动主动隔离/抑制的要求,以VCM(voice coil motor)作动器Stewart平台为控制装置,通过对其动力学模型解耦将控制转化为SISO(single input single output)问题;分析了Skyhook控制方法的隔振效果及其对抑振的局限性,在控制系统中加入了PFF(positive force feedback)控制回路,并引入加速度反馈环节以提高系统的鲁棒稳定性,形成一种振动主动隔离/抑制控制方法;利用Stewart平台的单杆开展了基础扫频激励和负载单频直接干扰共同作用下的S-DOF(single degree of freedom)微振动主动隔离/抑振控制实验,建立了Stewart平台刚/柔混合动力学模型并通过仿真研究了6-DOF振动主动隔离/抑振控制效果。实验和仿真结果表明:该方法可实现良好的振动主动隔离/抑制效果且性能稳定。A Stewart platform actuated by VCM( voice coil motors) is selected as the control device to realize active isolation / suppression for micro-vibration onboard a satellite. A SISO( single input single output) control strategy is established for the Stewart platform by decoupling its dynamic model to the single strut model. The effectiveness of the vibration isolation as well as the limitation on vibration suppression of the Skyhook control method is analyzed,then a PFF( positive force feedback) loop is implemented to achieve isolation. To enhance the robust stability properties of the control system,an acceleration feedback loop is added to the system. Finally,micro-vibration active isolation / suppression experiments and simulations are conducted on the Stewart platform ' s single strut,as well as Stewart platform rigid-flexible coupling dynamic model. Base sweep excitations and payload single-tone disturbances are induced on both objects,and isolation / suppression is conducted with this paper ' s control method. The experimental and simulation results show that the control performance is quite good and stable with respect to both vibration isolation and suppression.

关 键 词：STEWART平台 微振动 主动控制 振动隔离 振动抑制 

分 类 号：V414[航空宇航科学与技术—航空宇航推进理论与工程] TB535[理学—物理]