| 摘要: |
| 大型桁架式可展开航天结构在地面试验时，存在大挠度变形、精度低、泛用性差等结构特点，为提高地面试验有效性，提出了一种自适应多点悬挂重力补偿控制方法。首先,设计系统辨识算法和控制器算法，解决了多点耦合问题。其次,建立Simulink与 Adams联合仿真平台，通过仿真分析选择算法参数，验证了算法的可行性。最后,以大型桁架式航天天线为对象，搭建重力补偿系统实验平台并进行实验验证。实验结果表明：控制系统在稳态环境和动态环境下均能快速收敛。稳态环境下，平均稳态误差为0.5503%；动态环境下，平均稳态误差0.526%。完成了航天结构天线的重力补偿，为多点重力补偿系统方案的实施提供建议和改进措施。 |
| 关键词: 重力补偿 航天天线 悬挂法 自适应控制 |
| DOI： |
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| Research on Adaptive Multi-Point Suspension Gravity Compensation System |
| DONG Longlei,YAN Yaya,REN Kai,SUN Hailiang |
| (School of Aerospace，Xi'an Jiaotong University;Beijing Institute of Astronautical Systems Engineering) |
| Abstract: |
| Large-scale truss-type expandable aerospace structures have structural characteristics such as large deflection deformation, low precision，and poor generality when tested on the ground. An adaptive multi-point suspension gravity compensation control method is proposed in order to improve the effectiveness of the ground test in this paper. Firstly, the system identification algorithm and controller algorithm are designed to solve the multi-point coupling problem. Secondly, a Simulink and Adams joint simulation platform is established, and the algorithm parameters are selected through simulation analysis to verify the feasibility of the algorithm. Finally, the experimental platform of the gravity compensation system was built and the experimental verification was carried out with large truss space antennas as the object. The experimental results show that the control system can converge rapidly under both steady state and dynamic conditions. The average steady-state error is 0.5503% in the static environment and 0.526% in dynamic environment. This work provides a set of solutions for microgravity simulation of ground experiment of large truss space antenna, and contributes to the intellectualization of gravity compensation system, which is of great significance to the development of space industry. |
| Key words: Gravity compensation Space antenna Suspension Adaptive control |