基于输入成形的太阳能帆板自适应滑模控制

周通; 郭宏; 徐金全

doi:10.13700/j.bh.1001-5965.2017.0276

基于输入成形的太阳能帆板自适应滑模控制

doi: 10.13700/j.bh.1001-5965.2017.0276

北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目:

航空科学基金 2016ZC51025

详细信息

作者简介:
周通  男, 博士研究生。主要研究方向:太阳能帆板驱动系统的高精度控制、特种电机设计与驱动控制

郭宏  男, 博士, 教授, 博士生导师。主要研究方向:机载电气系统设计、特种电机设计及其驱动控制

徐金全  男, 博士, 讲师。主要研究方向:高可靠电机设计及其驱动控制

通讯作者:
徐金全, E-mail: xujinquan@buaa.edu.cn

中图分类号: V442
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出版历程
- 收稿日期: 2017-05-02
- 录用日期: 2017-08-01
- 网络出版日期: 2018-04-20

Adaptive sliding mode control of solar array with input shaping

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

Aeronautical Science Foundation of China 2016ZC51025

More Information

Corresponding author: XU Jinquan, E-mail: xujinquan@buaa.edu.cn

摘要

摘要:
为提高太阳能帆板驱动系统（SADS）的角位置控制性能和抑制太阳能帆板的柔性振动，提出了一种自适应滑模控制（ASMC）与输入成形技术相结合的控制策略。该控制策略通过自适应滑模控制保证了系统在不确定性影响下的一致有界性和渐进一致有界性，从而提高了太阳能帆板驱动系统的角位置控制性能。同时，通过基于参考模型的输入成形器（IS）规划了指令轨迹，进而抑制了太阳能帆板的柔性振动。仿真结果表明了控制策略的有效性。
- 输入成形 /
- 自适应滑模控制(ASMC) /
- 太阳能帆板 /
- 驱动系统 /
- 柔性振动
Abstract:
This paper proposes a control strategy which combines adaptive sliding mode control (ASMC) with input shaping technology for the solar array drive system (SADS) to improve the angular position control performance and suppress the flexible vibration. To improve the angular position control performance, ASMC is introduced, which is able to guarantee the uniform boundedness and uniform ultimate boundedness, regardless of the uncertainty. The command trajectory is planned by the input shaper (IS) based on the reference model, which suppresses the flexible vibration of solar array. The simulation results verify the validity of the proposed control strategy.
- input shaping /
- adaptive sliding mode control (ASMC) /
- solar array /
- drive system /
- flexible vibration

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图 1 太阳能帆板驱动系统结构

Figure 1. Structure of SADS

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图 2 基于本文控制策略的太阳能帆板驱动系统控制结构

Figure 2. Control structure of SADS based on proposed control strategy

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图 3 输入成形器原理图

Figure 3. Schematic diagram of IS

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图 4 随机干扰力矩波形

Figure 4. Random disturbance torque waveform

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图 5 角位置响应波形图及其局部放大图

Figure 5. Oscillogram of time response of angular position and its partial enlarged views

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图 6 角速度响应波形图

Figure 6. Oscillogram of time response of angular velocity

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图 7 振动能量波形图

Figure 7. Oscillogram of vibration energy

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图 8 驱动力矩波形图

Figure 8. Oscillogram of driving torque

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表 1 太阳能帆板驱动系统仿真参数^[29-30]

Table 1. Simulation parameters of SADS^[29-30]

参数	数值
定子电阻/Ω	28
定子电感/H	0.134
极对数	12
转矩常数/(N·m·A^-1)	9.22
额定电流/A	1.4
额定功率/W	22
传动比	325
最大静摩擦力矩/(N·m)	404.54
第一阶模态耦合系数	188.7
第二阶模态耦合系数	30.1
第一阶模态阻尼比	0.01
第二阶模态阻尼比	0.01
第一阶模态角频率/(rad·s^-1)	1.789
第二阶模态角频率/(rad·s^-1)	11.21
转动惯量/(kg·m²)	1.7×10⁶
滑动摩擦力矩/(N·m)	324.31

下载: 导出CSV

表 2 3种控制器的仿真参数

Table 2. Simulation parameters of three controllers

控制器	参数	数值
PID控制	比例系数(位置环)	0.075
	积分系数(位置环)	0.000 8
	微分系数(位置环)	2
	比例系数(速度环)	33.3
	积分系数(速度环)	0.1
	微分系数(速度环)	0
	比例系数(电流环)	500
	积分系数(电流环)	6 000
	微分系数(电流环)	0
ASMC	K_P	1 530
	K_D	89 760
	k	3
	κ	150
	χ	3
IS	A₁	0.26
	A₂	0.25
	A₃	0.25
	A₄	0.24
	t₁/s	0
	t₂/s	0.28
	t₃/s	1.76
	t₄/s	2.03

下载: 导出CSV

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