Stewart平台动力学建模及鲁棒主动隔振控制  

Dynamic Modeling and Robust Active Isolation Control of Stewart Platform

作　　者：刘磊[1] 王萍萍[1] 孔宪仁[1] 王本利[1] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150080

出　　处：《宇航学报》2011年第6期1231-1238,共8页Journal of Astronautics

摘　　要：未来复杂航天器低频模态密集,其敏感载荷要求很高的指向精度和稳定度,只对航天器本体姿态控制很难满足要求。本文采用Stewart超静平台对敏感载荷进行6自由度主动隔振,建立了非线性动力学模型,并根据线性模型设计了多变量鲁棒控制器,采用DK迭代算法求解。频域分析可得Stewart平台对3～800Hz的扰动主动隔振大于25dB,仿真证明Stewart平台对10Hz谐波扰动隔振性能优于40dB,对白噪声随机扰动隔振性能优于30dB,有效抑制了微小扰动,起到了6自由度超静隔振平台作用。There are intensive flexible modes at low frequencies in future complex spacecrafts.Moreover,a sensitive payload needs high pointing accuracy and stability.It is difficult to satisfy the requirements only using attitude control of spacecraft body.In this paper,a Stewart ultra quiet platform is used for six-DOF active vibration isolation.Its nonlinear dynamics model is derived and a robust MIMO controller is designed according to the linear model,then the D-K iteration is used to solve the controller.The frequency domain analysis indicates that vibrations can be isolated more than 25dB in the frequency range 3~800Hz.The simulation indicates that the isolation performance in 10Hz is better than 40dB.Moreover,the isolation performance of stochastic disturbance（white noise） is better than 30dB.The micro vibrations can be actively isolated by Stewart platform working as a six-DOF ultra quiet isolation platform.

关 键 词：STEWART平台 主动隔振 鲁棒控制 加权函数 

分 类 号：TB535[理学—物理]