柔性航天器舱体搬运时输入整形振动抑制方法和原理试验  

Design and Test of Input Shaper for Flexible Spacecraft Cabin Vibration Suppression During Translocation

作　　者：刘玮[1] 郭其威 朱春艳 张美艳[1,2] 唐国安[1] 

机构地区：[1]复旦大学力学与工程科学系,上海200433 [2]上海市空间飞行器机构重点实验室,上海201108

出　　处：《上海航天》2015年第5期31-34,59,共5页Aerospace Shanghai

基　　金：国家自然科学基金资助项目资助(11202052)

摘　　要：针对柔性航天器空间搬运过程中的振动问题,采用输入整形技术对舱体搬运的位移-时间历程进行修改,降低搬运动态过程对柔性舱体的振动激励,实现舱体振动抑制。设计了柔性舱段和太阳电池翼的缩比实验模型,在直线运动平台上通过原理试验,验证了搬运过程中舱体位移-时间历程整形对抑制柔性舱体振动的有效性。Aiming at the vibration of flexible spacecraft cabins during translocation based on space manipulator,the travel function of translocation was redesigned by input shaping technology to suppress vibration of the cabin reduced by the input excitation in this paper.A scaled model driven by servo motor was designed to test the shapers in different work conditions.It was verified by the experiments that using shaped displacement input function to drive the cabin translocation could remarkably suppress the residual vibration.

关 键 词：柔性航天飞行器 机械臂 舱体搬运 振动 输入整形 

分 类 号：V414.33[航空宇航科学与技术—航空宇航推进理论与工程]