柔性周边桁架可展开天线展开过程动力学分析和组合控制方法  

Dynamic analysis and combined control of the deployment of flexible hoop truss deployable space antennas

作　　者：张逸群[1] 张志华[1] 

机构地区：[1]西安电子科技大学电子装备结构教育部重点实验室,西安710071

出　　处：《高技术通讯》2011年第7期750-755,共6页Chinese High Technology Letters

基　　金：国家自然科学基金（50475171）资助项目.

摘　　要：针对柔性周边桁架可展开天线的展开过程提出了一种基于运动解耦的组合控制方法。首先基于多刚体拉格朗日方法并考虑柔性体的弹性势能建立了周边桁架可展开天线展开过程的多柔体动力学模型，然后根据运动学和动力学分析，将天线运动反馈分解为刚体运动和由柔性因素引起的振动两部分，分别设计了刚性控制器和柔性控制器。刚性控制器的目标是使天线做大范围运动以达到精确展开，柔性控制器的目标是迅速抑制柔性振动产生的影响。编制了仿真程序并进行了算例分析，仿真结果验证了该方法的合理性和有效性。A combined control method is presented for deployment control of flexible hoop truss deployable space antennas. Based on the Lagrange method and the consideration of the elasticity potential energy of flexible bodies, a flexible multi-body dynamics model for hoop truss deployable antennas is established. By efficient use of the kinematics and dynamics model information, the motion feedback is decoupled to two parts： the rigid motion and the vibration caused by flexible behaviors. Two controller are designed individually for the two corresponding feedbacks. The rigid controller guarantees the antenna to deploy precisely and the flexible controller restrains the flexible vibration. The validity and stability of the control method were verified by numerical simulations. The results show the antennas can calmly deploy with a specified motion.

关 键 词：可展开天线 柔性多体动力学 展开过程 组合控制 解耦 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]