大型抛物柱面天线展开动力学分析与展开过程控制  

Dynamic Analysis and Deploying Process Control of Large Parabolic Cylinder Antennas

作　　者：陈金宝[1,2] 宋志成 陈传志 董家宇[1,2] 王治易 张俞 CHEN Jinbao;SONG Zhicheng;CHEN Chuanzhi;DONG Jiayu;WANG Zhiyi;ZHANG Yu(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Key Laboratory of Exploration Mechanism of the Deep Space Planet Surface,Ministry of Industry and Information Technology,Nanjing 210016,China;Shanghai Academy of Spaceflight Technology,Shanghai 201100,China)

机构地区：[1]南京航空航天大学航天学院,南京210016 [2]深空星表探测机构技术工信部重点实验室,南京210016 [3]上海宇航系统工程研究所,上海201100

出　　处：《宇航学报》2023年第4期496-508,共13页Journal of Astronautics

基　　金：国家自然科学基金(52075242,52275113)。

摘　　要：为揭示大型抛物柱面天线在轨展开过程中各部件的动力学特性,保障可展天线在轨展开过程稳定性,提出了一种基于模块组装的大型抛物柱面可展天线支撑机构动力学快速建模方法与非线性展开过程反馈控制策略。首先,基于绝对节点坐标法建立了天线可展支撑机构基本模块的动力学方程集与约束方程集。然后,通过子模块组装的方式实现对超大型支撑机构的动力学快速建模,并进一步提出逐块缩聚与递归的动力学微分方程高效求解算法。最后,基于非线性展开过程反馈控制策略实现了抛物柱面可展支撑机构该类强非线性系统的展开稳定控制。结果表明,该控制方法能显著降低可展支撑机构展开过程中的速度峰值,有效提高了大型抛物柱面天线展开过程中的展开同步性。In order to reveal the dynamic characteristics of various components of large parabolic cylindrical antenna and ensure the stability of deployable antenna during in-orbit deployment,a fast dynamic modeling method for space large-scale modular deployable supporting structures and a non-linear deployable control strategy based on speed feedback are proposed.Firstly,the dynamic and constraint equations of sub-modules are established for the large-scale deployable supporting structure based on the absolute nodal coordinate formulation.Then,the dynamic modeling of the super-large-scale supporting structures is realized by means of submodule assembly,and the efficient solution algorithm of module-by-module condensation and recursive dynamic differential equations are proposed.Finally,the non-linear deployable control strategy based on speed feedback is introduced to ensure stable deployable control over strongly non-linear systems,such as the deployable supporting structure with parabolic cylindrical surfaces.The results show that this control method can significantly reduce the peak speed during the deployment of the supporting structure and improve the deployable synchronicity of the antenna supporting structure.

关 键 词：抛物柱面天线 绝对节点坐标法 柔性多体系统 展开动力学 速度反馈控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]