刚柔耦合系统的输入成形控制

孔宪仁, 杨正贤, 张锦绣, 兰盛昌

哈尔滨工业大学卫星技术研究所



摘要:

为实现对大范围运动刚柔耦合系统的振动抑制,提出基于一次近似动力学模型的输入成形控制方法.针对中心刚体-柔性旋臂梁系统,在变形位移的描述中计及纵向变形的二次耦合项,建立一次近似动力学模型用于振动控制.考虑到大范围运动刚柔耦合系统中柔性梁有别于结构动力学中定边界梁的模态特性,设计抑制柔性振动的鲁棒多模态输入成形器.仿真结果表明,该策略在完成大角度机动的同时成功地抑制了柔性梁的振动.

关键词:  输入成形  大范围运动  刚柔耦合  振动抑制  数值仿真

DOI：10.11918/j.issn.0367-6234.2011.03.002

分类号:TB535

基金项目:“十一五”预研背景资助项目(113020102);国家自然科学基金资助项目(60904051)



Input shaping control for rigid-flexible coupling systems

KONG Xian-ren, YANG Zheng-xian, ZHANG Jin-xiu, LAN Sheng-chang

Research Center of Satellite Technology,Harbin Intitute of Technology,150080 Harbin,China

Abstract:

A input shaping control algorithm is provided for vibration suppression of rigid-flexible coupling systems with large overall motion.For the sake of describing actual dynamics of those rigid-flexible coupling systems,a first-order approximation dynamic model was presented.The second-order coupling terms was included in the longitudinal deformation.The modal characteristics of the flexible beam in rigid-flexible coupling system was different from that of the beams in structural dynamics in large overall motion.Considering the differences,a robust multiple-mode input shaper was designed.Simulation results show that the presented control strategy suppresses the beam’s vibration successfully during attitude maneuver.

Key words:  input shaping  large overall motions  rigid-flexible coupling  vibration suppression  numerical simulation