基于混合灵敏度的空间望远镜次镜调整机构鲁棒控制

曹小涛; 杨维帆; 王瀚; 赵海波; 王克军

doi:10.3788/OPE.20182605.1113

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基于混合灵敏度的空间望远镜次镜调整机构鲁棒控制

微纳技术与精密机械 | 更新时间：2020-08-13

- 基于混合灵敏度的空间望远镜次镜调整机构鲁棒控制
- Mixed-sensitivity-based robust control of secondary mirror adjustment mechanism for space telescopes
- 光学精密工程 2018年26卷第5期页码：1113-1123
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2.中国科学院大学, 北京 100049
- 作者简介：
  
  [ "曹小涛(1980-), 男, 河南巩义人, 博士, 副研究员, 2008年于吉林大学获得博士学位, 主要研究方向为空间相机电子学及控制系统技术。E-mail:caoxiaotao@ciomp.ac.cn" ]
  [ "杨维帆(1987-), 男, 黑龙江大庆人, 博士, 助理研究员, 2014年于中国科学院长春光学精密机械与物理研究所获得博士学位, 主要研究方向为空间相机电子学与控制技术。E-mail:yangweifan1987@sina.com" ]
- 基金信息：
  
  国家自然科学基金青年科学基金资助项目(11703027)
- DOI：10.3788/OPE.20182605.1113
  中图分类号： TH691.9
- 收稿日期：2017-10-20，
  
  录用日期：2017-11-24，
  
  纸质出版日期：2018-05-25
- 稿件说明：
移动端阅览
曹小涛, 杨维帆, 王瀚, 等. 基于混合灵敏度的空间望远镜次镜调整机构鲁棒控制[J]. 光学精密工程, 2018,26(5):1113-1123.

Xiao-tao CAO, Wei-fan YANG, Han WANG, et al. Mixed-sensitivity-based robust control of secondary mirror adjustment mechanism for space telescopes[J]. Optics and precision engineering, 2018, 26(5): 1113-1123.
曹小涛, 杨维帆, 王瀚, 等. 基于混合灵敏度的空间望远镜次镜调整机构鲁棒控制[J]. 光学精密工程, 2018,26(5):1113-1123. DOI： 10.3788/OPE.20182605.1113.

Xiao-tao CAO, Wei-fan YANG, Han WANG, et al. Mixed-sensitivity-based robust control of secondary mirror adjustment mechanism for space telescopes[J]. Optics and precision engineering, 2018, 26(5): 1113-1123. DOI： 10.3788/OPE.20182605.1113.

摘要

次镜调整机构作为空间望远镜主动光学调整的核心组件，为实现在轨实时快速调整，其调整精度和动态性能均有比较严格的要求。机构常采用Stewart平台结构形式，基于逆运动学模型和关节空间PID控制相结合的方法，由于受到模型的非线性和不确定性、扰动及耦合的影响，难以取得较为满意的效果。为解决该问题，从机电动力学模型出发，将平台各支杆间耦合因素表征为外部干扰，建立了互相解耦的关节机电模型。依据模型辨识结果采用乘性不确定性描述模型摄动，依据模型误差界和性能指标要求设计混合灵敏度加权函数。针对虚轴极点问题，采用扩展

∞

方法，将复杂动力学系统的控制器设计问题转化为堆叠S/T/KS混合灵敏度问题。在Matlab中求解得到鲁棒控制器，并在DSP中完成数字算法实现。仿真分析及试验结果表明，鲁棒控制器具有更好的鲁棒性、扰动抑制性能和动态特性，能够满足空间应用的可靠性需求。

Abstract

Secondary mirror adjustment mechanisms are core elements of active optics used for the adjustment of space telescopes. For real-time rapid adjustments in orbit

great demands are put on their adjusting accuracy and dynamic characteristics. Because of nonlinearity

uncertainty

disturbances

and coupling of the system

sufficient control cannot be easily achieved by traditional methods based on intermixing PID systems and inverse kinematics. Focusing on this problem

an uncoupled electromechanical model was proposed by transforming the joint couple dynamics into external disturbances. The model uncertainty was represented by the multiplicative uncertainty resulting from the system identification

and the mixed sensitivity function was designed according to the model error bound and performance index. By using the extended method to deal with the imaginary axis pole

the complex dynamic system was transformed into a stacked S/T/KS problem. A robust controller was designed by MATLAB and a digital algorithm was realized using DSP. The improved robustness

disturbance rejection

and dynamic characteristics were verified by both simulations and experimental results

proving that space-reliable application can be achieved.

关键词

Keywords

references

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