| 摘要: |
| 为改善星箭界面低频振动环境，采用磁流变阻尼器作为半主动控制元件，设计六杆Stewart隔振平台，替代原有锥壳过渡支架。采用牛顿欧拉法建立整星隔振平台动力学模型。针对星箭界面低频振动环境在特定频段振动量级较大的特点，采用H∞控制进行控制器综合，通过选择合适的加权函数，对特定频段振动进行重点衰减。磁流变阻尼器采用双sigmoid模型，并设计新型半主动控制策略，跟踪期望阻尼力。仿真结果表明，相对传统控制方法，H∞半主动控制在特定频段减振效果较好，且在其他频段控制效果没有恶化，验证了算法的有效性。 |
| 关键词: 整星隔振平台 磁流变阻尼器 牛顿 欧拉法 H∞控制 半主动控制 |
| DOI： |
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| 基金项目:国家自然科学基金（11372083）;中国运载火箭技术研究院创新基金 |
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| Research on H∞ Semi-active Control of Magnetorheological Stewart Vibration Isolation Platform |
| WANG Lei,PAN Zhong-wen,LIAN Yong-zheng,ZENG Yao-xiang,CHEN Zhao-bo |
| (Beijing Institute of Astronautical Systems Engineering;School of Mechatronics Engineering, Harbin Institute of Technology) |
| Abstract: |
| To improve the interface vibration environment of satellite and the rocket，a six-pole vibration isolation platform is presented, using magnetorheological(MR) damper as semi-active control device. The dynamic model of the satellite vibration isolation platform is established by using the Newton-Euler method. In order to focus on the specific frequency band attenuation, the H∞ control is used to integrate the controller. By selecting the appropriate weighting function, the vibration of a particular frequency band is attenuated. The MR damper adopts double sigmoid model, and a novel semi-active control strategy is designed to track the desired damping force. Based on the system model and controller, control system simulation is researched. The simulation results show that H∞ semi-active control is better than the traditional control method, and the control effect is not deteriorated in other frequency bands. The effectiveness of the algorithm is verified. |
| Key words: Whole-spacecraft vibration isolation platform Magnetorheological damper Newton-Euler method H∞ control Semi-active control |