基于Stewart平台的有效载荷低阶模态振动抑制

孔永芳; 黄海; 李琪

doi:10.37188/OPE.20202811.2507

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基于Stewart平台的有效载荷低阶模态振动抑制

微纳技术与精密机械 | 更新时间：2020-12-09

- 基于Stewart平台的有效载荷低阶模态振动抑制
- Vibration suppression for payload low-order modes using a Stewart platform
- 光学精密工程 2020年28卷第11期页码：2507-2516
- 作者机构：
  
  1.上海航天控制技术研究所, 上海 201109
  2.北京航空航天大学宇航学院, 北京 100191
- 作者简介：
  
  [ "孔永芳(1990-), 女, 浙江绍兴人, 博士, 2013年、2019年于北京航空航天大学分别获得学士、博士学位, 主要从事结构动力学与振动主被动控制方面的研究。E-mail:kyf1990@126.com" ]
  [ "黄海(1963-), 男, 浙江湖州人, 博士, 教授, 1983年、1986年、1990年于北京航空航天大学分别获得学士、硕士、博士学位, 主要从事航天飞行器新概念、结构与多学科优化、智能结构与控制及相关工程领域的应用研究。E-mail:hhuang@buaa.edu.cn" ]
- 基金信息：
  
  上海航天技术研究院职工创新创意基金资助项目(2020115)
- DOI：10.37188/OPE.20202811.2507
  中图分类号： TB535
- 收稿日期：2020-07-16，
  
  修回日期：2020-08-10，
  
  录用日期：2020-8-10，
  
  纸质出版日期：2020-11-25
- 稿件说明：
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孔永芳, 黄海, 李琪. 基于Stewart平台的有效载荷低阶模态振动抑制[J]. 光学精密工程, 2020,28(11):2507-2516.

Yong-fang KONG, Hai HUANG, Qi LI. Vibration suppression for payload low-order modes using a Stewart platform[J]. Optics and precision engineering, 2020, 28(11): 2507-2516.
孔永芳, 黄海, 李琪. 基于Stewart平台的有效载荷低阶模态振动抑制[J]. 光学精密工程, 2020,28(11):2507-2516. DOI： 10.37188/OPE.20202811.2507.

Yong-fang KONG, Hai HUANG, Qi LI. Vibration suppression for payload low-order modes using a Stewart platform[J]. Optics and precision engineering, 2020, 28(11): 2507-2516. DOI： 10.37188/OPE.20202811.2507.

摘要

针对空间精密有效载荷低阶模态振动抑制问题，提出了一种采用基于经典的两参数隔振器和柔性Stewart平台设计的有效载荷主被动隔振平台进行主动控制的策略。该策略的核心思想是在有效载荷隔振平台中施加Skyhook阻尼和陷波器相结合的主动控制来进一步改善传统平台的振动衰减能力。首先，对已研制的有效载荷隔振平台样机进行了简单介绍，并建立了微重力环境中有效载荷的理论刚体动力学模型，用于装置的隔振性能评估和控制器设计；然后，给出了控制器设计；最后，通过实验验证了组合控制的有效性。实验结果表明：在仅使用Skyhook控制的传统隔振平台样机中，上平板17.4 Hz和34.8 Hz附近的柔性模态仍然易被激起，造成隔振平台沿竖直方向振动传递率幅频特性曲线在这两处频率附近有明显的共振峰；而组合控制成功地使相应的峰值分别下降了约12.2 dB和10.19 dB。所提出的策略能够提高对航天器本体扰动的减缓水平，极大程度地减弱目标柔性模态频率附近的干扰，实现高性能抑振。

Abstract

In this study

an active control approach was applied using active and passive payload vibration isolation platforms to suppress the vibration induced by low-order modes of space precision payloads. This system was designed based on the classical two-parameter isolator and the soft Stewart platform. A Skyhook damper was combined with a notch filter control in the vibration isolation system to improve the vibration attenuation capability of the conventional platform. First

the developed laboratory-scale vibration isolation platform for the space payload was developed

and a theoretical rigid-body dynamic model of the payload in the space microgravity environment was established to assess the isolation performance of the apparatus and to design the controllers. Next

the controllers were designed. Finally

the effectiveness of the combined control was verified experimentally. The experimental results showed that in the conventional vibration isolation platform controlled using only the Skyhook damper

the flexible modes of the upper plate near 17.4 and 34.8 Hz were excited easily

which generated resonances near these frequencies in the vibration transmissibility curve of the vibration isolation platform along the vertical direction. The combined control successfully reduced the corresponding amplitudes by approximately 12.2 and 10.19 dB

respectively. The proposed method can be used to enhance the mitigation of disturbances from the spacecraft bus and to significantly reduce the interference near the target flexible modal frequencies

thus achieving high-performance vibration suppression.

关键词

Keywords

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