航天器太阳帆板振动抑制的输入整形方法研究

利用输入整形与PD(比例微分)控制相结合的主动振动控制策略,在保证航天器完成三轴姿态机动的同时抑制太阳帆板的振动。首先,基于角动量定律和拉格朗日法建立了带挠性太阳帆板航天器的动力学模型。然后,在动力学模型的基础上,采用PD控制作为航天器三轴姿态机动的控制策略,利用挠性太阳帆板各阶模态的固有频率和阻尼比得到系统的输入整形器,对原始姿态机动的脉冲进行输入整形前馈控制,以抑制太阳帆板各阶模态的振动。仿真结果表明:两种输入整形方法均能抑制太阳帆板的振动,ZV(零残余振动)输入整形器简单且脉冲数量少,输入时间较短,但对于参数摄动以及输入的微小误差比较敏感,抑制振动的效果难以满足零残余振动的标准;ZVD(微分零残余振动)输入整形器脉冲数量较多,具有一定量的延时,但更为高效,鲁棒性强,能够极大地抑制挠性太阳帆板的残余振动,缩短航天器的机动稳定时间,且整个机动过程更加平稳。

Input shaping for vibration suppression of spacecraft solar sail

The active vibration control strategy combined input shaping and PD control is used for the three-axis attitude maneuver of a spacecraft and vibration suppression of flexible solar panel.Firstly,the dynamic model of the spacecraft with flexible solar panel is established using the angular momentum law and the Lagrangian method.Then,based on the linear dynamic model,the three-axis attitude PD control is employed to generate various modes of modal vibration of the flexible solar panel,and the input frequency shape of the system is obtained by using the natural frequency and damping ratio of each mode.The input shaping feedforward control is performed on the pulse of the original attitude maneuver to suppress the vibration of each mode.Both input shaping methods can suppress the vibration of solar panels.ZV input shaper is simple,with few pulses and short input time.However,it is sensitive to parameter perturbation and small input errors,and the effect of suppressing vibration is difficult to meet the standard of zero residual vibration.The ZVD input shaper has a large number of pulses and a certain amount of delay,but it is more efficient and robust.It can greatly suppress the residual vibration of flexible solar panels,shorten the maneuver stability time of spacecraft,and the whole maneuver process is more stable.