基于Stewart平台的大柔性空间桁架结构振动控制  

Vibration control of a large flexible space truss using a Stewart platform manipulator

作　　者：罗波[1] 李伟鹏[1] 黄海[1] 

机构地区：[1]北京航空航天大学宇航学院航天飞行器与导弹技术实验室,北京100191

出　　处：《振动与冲击》2012年第23期148-153,共6页Journal of Vibration and Shock

基　　金：航天科技集团公司创新基金(CASC200902);中国空间技术研究院创新基金(CAST20100601)

摘　　要：针对大柔性空间桁架结构的振动主动控制问题,提出一种根部测控一体化方案,即采用CCD相机在桁架根部对桁架振动进行非接触式测量和采用Stewart六杆并联平台固连在柔性桁架根部作为主动设备进行振动控制。采用ADC自适应控制算法,并基于dSPACE实时仿真系统,搭建了振动控制实验平台。使用音圈电机激振器分别作为外扰和内扰,激发柔性桁架的低阶模态,通过视觉测量系统测得振动信号,采用Stewart平台在桁架根部对振动进行抑制。低频外扰谐振实验,桁架振动振幅衰减87.7%;低频内扰谐振实验,桁架振动振幅衰减91.8%。实验结果证明所提出的桁架振动根部测控一体化方案的有效性,尤其适用于空间可展开结构的振动控制。An active vibration control strategy based on vision measurement and a Stewart platform manipulator （SPM） for a large flexible space truss was presented here. The bottom of the truss was mounted on a SPM used as the active performer while a CCD camera was used for the measurement of the vibration. An adaptive disturbance canceller （ADC） algorithm was designed, and then the control test system for the flexible truss was built based on the dSPACE real- time simulation system. Two resonance tests were conducted, in which a voice coil motor was used to excite the first-order mode of the truss as external and internal disturbances, respectively. It was shown that the vibration amplitudes decrease by more than 87.7% and 91.8% in the resonance tests with external and internal disturbances, respectively. The results showed that the active control strategy is significantly effective in vibration control of a large flexible truss, and it is applicable for a space extendable structure particularly.

关 键 词：柔性空间桁架 振动控制 视觉测量 STEWART平台 

分 类 号：V414.2[航空宇航科学与技术—航空宇航推进理论与工程]