空间站大柔性太阳电池翼驱动装置的滑模伺服控制  

Sliding mode servo control of a large flexible solar cell wing driving device

作　　者：赵真 王碧 陈国平[1] ZHAO Zhen;WANG Bi;CHEN Guoping(State Key Lab of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Aerospace System Engineering Shanghai,Shanghai 201109,China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016 [2]上海宇航系统工程研究所,上海201109

出　　处：《振动与冲击》2020年第3期211-218,288,共9页Journal of Vibration and Shock

基　　金：载人航天领域预先研究项目(030501)

摘　　要：针对空间站大柔性太阳电池翼高稳定对日跟踪驱动控制问题,提出了一种带运动规划和振动抑制的非线性快速终端滑模伺服控制方案。推导了太阳电池翼驱动状态方程、永磁同步电机动力学模型,同时考虑驱动装置传动间隙、静/动摩擦力矩切换等非线性传动特性,在动力学建模基础上设计高次样条运动规划、位置环积分分离调节器、速度环快速终端滑模变结构调节器的组合控制系统。通过对太阳电池翼对日跟踪过程的仿真校验,表明设计的控制方案可实现大惯量、超低频太阳电池翼较高的驱动速度稳定度和较好的跟踪精度。Aiming at driving control problem of a large flexible solar cell wing in space station,a nonlinear fast terminal sliding mode(FTSM)servo control scheme with motion planning and vibration suppression was proposed.The driving state equation of the flexible solar cell wing and dynamic model of permanent magnet synchronous motor(PMSM)were derived considering driving device’s nonlinear transmission characteristics including transmission clearance,static/dynamic friction torque switching.Based on dynamic modeling,a combined control system including motion planning with high spline function,position loop integral separation regulator and velocity loop fast terminal sliding mode variable structure regulator was designed.The simulation verification for solar cell wing’s tracking sun process was done.The results showed that the designed control scheme can realize higher driving speed stability and better tracking accuracy of solar cell wing with large inertia and ultra-low frequency.

关 键 词：柔性太阳电池翼 伺服控制 快速终端滑模控制 挠性抑制 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3