中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (6): 79-88.doi: 10.16708/j.cnki.1000-758X.2022.0086

• 论文 • 上一篇    下一篇

Stewart平台卫星动力学建模与姿态指向一体化控制

董艾雷，吕亮亮，蔡国平，吴勇军   

  1. 1 上海交通大学 海洋工程国家重点实验室 工程力学系，上海200240
    2 上海宇航系统工程研究所，上海201109
  • 出版日期:2022-12-25 发布日期:2022-11-09

Dynamics modeling and integrated attitude pointing control of a Stewart platform satellite

DONG Ailei，LYU Liangliang，CAI Guoping，WU Yongjun   

  1. 1 Department of Engineering Mechanics,State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University，Shanghai 200240，China
    2 Shanghai Institute of Aerospace Systems Engineering，Shanghai 201109，China
  • Published:2022-12-25 Online:2022-11-09

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摘要： 针对Stewart平台卫星大范围快速机动后的指向控制问题，提出了考虑翼板柔性的Stewart平台卫星动力学建模与姿态指向一体化控制方法。对考虑柔性翼板的Stewart平台卫星的动力学建模与主动控制进行了研究，采用力学基本原理和混合坐标法建立系统的刚柔耦合精确动力学模型，并提出一种同时考虑平台载荷指向与隔振的协同控制方案。数值仿真结果表明，所建立的动力学模型能够准确地描述系统的动力学行为，所提控制方案能够有效提高卫星平台的姿态指向精度。与未施加控制的情况相比，该方案能够将支撑杆的变形量减少到千分之一，从而保证了结构安全。此外，还分析了翼板柔性对Stewart平台卫星姿态控制的影响，结果表明翼板柔性对下平台姿态精度有较大影响，对上平台姿态精度影响较小。

关键词: Stewart平台卫星, 柔性翼板, 动力学建模, 一体化控制, 隔振

Abstract: Aiming at the steering control problem of the Stewart platform satellite after a large range of rapid maneuvering,a dynamics modeling and an integrated control method for attitude pointing of the Stewart platform satellite were proposed,which took into account the flexibility of the solar panel.The dynamics modeling and active control of Stewart platform satellite were investigated to improve this pointing accuracy of the platform load in such satellite.A rigidflexible coupling accurate dynamics model based on the fundamental principle of mechanics and the mixed coordinate method was established and a control design method considering platform load pointing and vibration isolation was presented.The numerical simulation results demonstrate that the established dynamics model can effectively describe the dynamics behavior of the system,and the control method can achieve higher attitude pointing accuracy.Compared with the situation without the control,the scheme can reduce the deformation of the supporting rod to one thousandth and ensure the structural safety.In addition,the effect of windsurfing flexibility on satellite attitude control of Stewart platform was also analyzed.The results show that the flexibility of solar panel has a great influence on the attitude accuracy of the lower platform and has a small effect on the attitude accuracy of the upper platform.

Key words: Stewart platform satellite, flexible solar panel, dynamics modeling, integrated control, vibration isolation