精密跟瞄Hexapod平台研制及其振动控制  

Design and Vibration Control of Precision Pointing Hexapod

作　　者：李伟鹏[1] 黄海[1] 边边[1] 

机构地区：[1]北京航空航天大学宇航学院,北京100191

出　　处：《航空学报》2009年第2期259-264,共6页Acta Aeronautica et Astronautica Sinica

基　　金：国家"863"计划

摘　　要：为了实现星载光学设备的精密跟瞄,以自行研制的宏/微双重驱动复合作动器为主动元件,设计了合理的平台构型,选择并装配了铰链等关键部件,组装完成了具有振动主动控制和大幅跟瞄能力的Hexa-pod平台原理样机。利用牛顿-欧拉法建立了Hexapod平台线性动力学模型。采用改进的自适应振动消减器(ADC)方法进行了平台主动隔振的控制仿真与实验研究。由仿真结果可知,当Hexapod平台底部受到方向不同的双频正弦微振动干扰时,控制可以隔离干扰向平台上平面的传播;在实验中,平台上平面处于水平位置及转动一定角度时,底部微扰动引起的各杆振幅均下降了90%左右。结果表明了所研制的Hexa-pod平台用于主动隔振的可行性、建模的有效性以及改进的ADC方法的合理性。Hexapod is effective for vibration isolation and precision pointing of a space-based optical apparatus. With the dual-driving hybrid actuators developed by us, a Hexapod＇s optimal configuration is designed, its joints are manufactured and a high stabilization precision point-tracking Hexapod prototype is assembled. The Hexapod＇s linear dynamic model is established with Newton-Euler method. Using the improved adaptive disturbance canceller （ADC） method, simulation and experiment of Hexapod active vibration isolation are carried out. Simulation results show that the Hexapod＇s bottom double-frequency micro-vibration is isolated. In experiment, the Hexapod is located in a horizontal position and a 5% incline position, respectively, and the vibration on each strut is decreased by about 90% in both cases. The study indicates the feasibility of the Hexapod for active vibration isolation, the credibility of the Hexapod＇s dynamic model, and the rationality of the improved ADC method

关 键 词：并联机构 跟瞄平台 ADC方法 振动控制 复合作动器 

分 类 号：TB535[理学—物理]