大型挠性天线的主动振动抑制与相对位置控制  

Active Damping and Relative Position Control for Large Antenna

作　　者：冯骁 汤亮[1,2] 关新 郝仁剑[1,2] 张科备 FENG Xiao;TANG Liang;GUAN Xin;HAO Renjian;ZHANG Kebei(Beijing Institute of Control Engineering,Beijing 100094,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制技术重点实验室,北京100094

出　　处：《空间控制技术与应用》2022年第4期17-26,共10页Aerospace Control and Application

基　　金：国家自然科学基金项目(U21B6001)。

摘　　要：在微波遥感卫星上应用长基线的雷达干涉仪需要对大型挠性天线进行快速的主动振动抑制与高精度相对位置控制,传统的星体姿态控制和阻尼机构已无法满足任务的快速性和高精度要求.提出一种以高精度相对位姿测量相机为传感器、以高带宽执行的主动指向超静平台为执行机构的主动振动抑制与相对位置控制系统,开展了动力学建模、控制器设计和数学、物理仿真试验研究.该系统中相机测量天线末端的位移,而主动指向超静平台在天线的根部施加控制作用,因此控制回路具有异位控制的特点.为此,提出了一种能够实现天线载荷主动振动抑制和位置控制的控制器,其能够为天线的一阶挠性模态提供阻尼作用,同时保持高阶模态的稳定.控制器具有积分控制+结构滤波器的形式,也可被解释比例-积分-微分控制器+低通滤波器.在该控制器的基础上,进一步设计了星体-载荷两级控制回路.通过数学仿真和全物理仿真试验对设计的控制系统在主动振动抑制和位置控制任务中的有效性进行了考核,仿真和试验结果表明,提出的控制方案和控制器能够将大型挠性天线的振动衰减时间缩短1~2个数量级,并为天线载荷提供快速、精确的位置调节能力.An active damping and relative position control system is proposed for spacecraft with large antenna in this paper.This system employs a camera to measure the vibration of the antenna,and an active pointing ultra-quiet platform for actuation.Research efforts are made in the modeling and control design of such a system,and the performance of the system is evaluated through both numerical and experimental tests.Because the camera measures the tip motion of the antenna and the actuators are placed at the root of the antenna,non-collocated control techniques must be employed.A controller is proposed that can achieve both active damping and position control of the antenna.The controller consists of an integral controller and a structural filter in series connection.It can also be interpreted as a proportional-integral-differential control with a low-pass filter.The controller provides active damping for the first flexible mode while stabilizing higher-order modes.Based on this controller,a two-stage controller is also designed for the coupled spacecraft-antenna dynamics.Numerical and experimental tests show that the proposed control system can rapidly attenuate the vibration of the antenna,and the settling time is shorten to 1/10~1/100 of that of free vibration.It is also demonstrated that the proposed control system provides rapid position control capability for the antenna.

关 键 词：挠性航天器 主动振动抑制 主动指向超静平台 异位控制 全物理仿真试验 

分 类 号：V448[航空宇航科学与技术—飞行器设计]