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1、52上海AER()SPACE航天SHANGHAl第34卷2017年第2期文章編號：1006—1630(2017)02—0052—09基于音圈式Stewart平臺的零剛度衛(wèi)星復(fù)合姿態(tài)控制研究許域菲，趙艷彬(上海衛(wèi)星工程研究所，上海201109)摘要：針對擾動及衛(wèi)星本體振動傳遞對高精度載荷姿態(tài)控制的影響，研究了基于音圈式Stewart隔振平臺的零剛度超靜衛(wèi)星及其姿態(tài)控制問題。利用音圈作動器在電磁作用原理下存在結(jié)構(gòu)間隙的特點(diǎn)，實(shí)現(xiàn)衛(wèi)星載荷艙與本體艙結(jié)構(gòu)非接觸，理論上完全隔離振動。圍繞該零剛度衛(wèi)星兩艙非接觸引發(fā)的姿態(tài)控制難題
2、，綜合滑?？刂茝?qiáng)抗干擾能力和動態(tài)逆控制形式簡明的特點(diǎn)，提出了魯棒復(fù)合控制律，可彌補(bǔ)滑?？刂坡傻刃Э刂七^于繁瑣和動態(tài)逆控制器魯棒性的不足，并證明了在該控制器作用下不確定動態(tài)系統(tǒng)的閉環(huán)穩(wěn)定性。建立了載荷艙和本體艙的動力學(xué)與運(yùn)動學(xué)模型，基于兩艙相對動力學(xué)和運(yùn)動學(xué)關(guān)系的分析，設(shè)計(jì)了載荷艙高精度高穩(wěn)姿態(tài)控制和本體艙精確跟蹤姿態(tài)控制律，證明了復(fù)合控制律的有效性。仿真結(jié)果表明：該零剛度衛(wèi)星能實(shí)現(xiàn)較高的姿態(tài)控制精度，驗(yàn)證了所提算法的可行性及潛在的應(yīng)用價(jià)值。關(guān)鍵詞：Stewart平臺；零剛度衛(wèi)星；音圈作動；隔振；魯棒復(fù)合控制；高精高穩(wěn)
3、；姿態(tài)控制；姿態(tài)跟蹤中圖分類號：V448．22文獻(xiàn)標(biāo)志碼：ADOI：10．19328／j．cnki．1006—1630．2017．02．004ComplexAttitudeControlStudyofaZeroStiffnessSatelliteBasedonVoiceCoilStewartPlatformXUYu—fei。ZHAOYan—bin(ShanghaiInstituteofSatelliteEngineering，Shanghai201109，China)Abstract：Azerostiffnessul
4、tra—quietsatellitebasedonvoicecoilStewartvibrationisolationplatformanditsattitudeeontrolproblemwerestudiedtodealwiththedisturbanceandvibrationtransformationfromthesatellitebodyplatformtothehighaccuracypayloadinthispaper．Utilizingthecharacteristicofthestructureg
5、apofthevoice—coilactuctorinducedbytheelectromagnetismforce，thepayloadmoduleandbodymuduleofthesatelliteweremechanismlyun-connectedandthevibrationscouldhetheoreticalycompleteisolated．Aimingattheattitudecontrolproblemscausedbythemechanismlyun-connectionofthetwomud
6、ulesofthezerostiffnesssatellite，therobustcomplexcontrolalgorithmwasproposed，whichsynthesizedthedisturbancerejectionperformanceofslidingmodecontrolandthesimplecontrollerformofdynamicinversecontrolandcompsenatedthedisadvantagesoftoofrequentequivalentcontrolofslid
7、ingmodelawandrobustnesslackneesofdynamicinversioncontr01．Thestabilityoftheclosedloopsystemofuncetaindynamicsystemwasprovedunderthiscontroller．Thedynamicandkinematicmodelsofthepayloadmoduleandbodymudulewereestablished．Basedontheanalysisofrelativeofdynamicandkine
8、maticrelationshipbetweenthetwomodules，theattitudecontrollawofpayloadmodulewithhighaccuracyandstabilityandtheattitudetrackinglawofbodymodulewithhighaccuracyweredesigned．Theef
