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附加连接对主动指向超静平台控制效果影响的仿真试验分析

樊茂1,汤亮2,关新3,张科备1   

  1. 1. 北京控制工程研究所
    2. 北京控制工程研究所空间智能控制技术国家级重点实验室
    3.
  • 收稿日期:2021-05-25 修回日期:2021-08-16 出版日期:2021-08-17 发布日期:2021-08-17
  • 通讯作者: 汤亮

Simulation and experiment analysis for ultra-agile ultra-stable and ultra-pointing platform with additional connection

  • Received:2021-05-25 Revised:2021-08-16 Online:2021-08-17 Published:2021-08-17
  • Contact: Tang Liang

摘要: 超精超稳超敏捷卫星在航天器星体平台的基础上引入二级控制主动指向超静平台(Ultra-agile ultra-stable and ultra-pointing platform, ASP)实现了载荷的振动隔离与敏捷机动。载荷与卫星平台之间的附加连接可能导致系统指向精度与隔振效果的下降。为此,利用仿真与试验分析研究了线缆、热管等附加连接对主动指向超静平台控制性能的影响。首先,利用牛顿欧拉方法建立了超精超稳超敏捷卫星多级动力学模型,将线缆、热管连接等效为附加刚度,建立附加连接的力学模型,为分析附加连接对系统产生的影响提供动力学基础。其次,仿真分析了附加连接对系统隔振效果、稳定性的影响,为实际卫星的设计与测试提供理论支持。为进一步掌握附加连接的刚度特性和对系统控制性能产生的影响,设计实验对主动指向超静平台开展控制系统的全物理仿真试验。试验结果表明,采用试验中线缆、热管的装配布局对主动指向超静平台控制的稳定性、指向精度与稳定时间均无明显影响,试验中线缆、热管的装配布局对整星的安装设计有重要参考意义。最后,提出了一种自适应预设性能非线性控制器,解决了附加刚度存在下平台与载荷之间的耦合与振动抑制问题,数值仿真结果显示,提出的自适应预设性能控制改善了载荷与平台之间的动力学耦合问题,进一步提升了载荷的敏捷机动、稳定跟踪与高精度指向能力。

关键词: 线缆热管连接, 振动抑制, 指向稳定性, 指向精度, 主动指向超静平台

Abstract: Ultrahigh precision ultrahigh stability ultra-agile multi-stage satellite is implemented by using two stage control ultra-agile ultra-stable and ultra-pointing platform(ASP) to the spacecraft platform. The ASP isolates the vibration and enables pay-load to have rapid maneuver ability. Additional connection may degrade the pointing accuracy and capability of vibration isolation, so numerical simulation and experiment which study the control performance of ASP system with cable and heat pipe additional connection are conducted. Newton-Euler method is used to establish multi-stage dynamic system. Mechanical model which sets up the foundation to analyze the effect of cable and heat pipe additional connection to the system is established. Numerical simulation is implemented to analyze the effect of additional connection on vibration isolation and stability of system which provides theoretical support for satellite design and test. In order to know the effect of additional connection more precisely, full physical experiment is designed and conducted to the ASP control system. The experiment result shows that assembly layout of cable and heat pipe additional connection in the experiment has little effect on stability, pointing accuracy and setting time in ASP control system. The assembly layout of cable and heat pipe in the experiment provides a great reference value and practical meaning to the satellite design. Adaptive prescribed performance nonlinear control law is proposed for dynamic coupling between payload and platform. And simulation result shows that the controller greatly reduces the dynamic coupling and further improves the ability of fast maneuver, stable tracking and high precision pointing.

Key words: Cable and heat pipe connection, Vibration isolation, Pointing stability, Pointing accuracy, Ultra-agile ultra-stable and ultra-pointing platform

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