基于LPV的主动隔振平台单支腿鲁棒控制器设计

唐育聪; 朱庆华; 刘付成; 曹赫扬

doi:10.13700/j.bh.1001-5965.2021.0513

基于LPV的主动隔振平台单支腿鲁棒控制器设计

doi: 10.13700/j.bh.1001-5965.2021.0513

上海航天控制技术研究所，上海 201109

详细信息

通讯作者:
E-mail：zhuqh_79@sina.com

中图分类号: TP273
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出版历程
- 收稿日期: 2021-09-05
- 录用日期: 2021-11-26
- 网络出版日期: 2021-12-16
- 整期出版日期: 2023-07-31

Design of robust controller for single outrigger of vibration active isolation platform based on LPV

Shanghai Aerospace Control Technology Institute，Shanghai 201109，China

More Information

Corresponding author: E-mail：zhuqh_79@sina.com

摘要

摘要:
利用控制力矩陀螺(CMG)实现敏捷姿态机动控制时，保证机动过程控制输出力矩快速响应的同时，还需要保证机动到位后有效隔离CMG的机械振动以实现高稳定度姿态控制。针对控制CMG主动隔振平台，将控制CMG外框角速度作为变参数，提出单支腿主动隔振平台控制器的一种基于线性变参数（LPV）控制设计实现方法，通过与其他主动隔振控制方法性能比较分析，所提方法在兼顾敏捷姿态机动期间和机动到位后对主动隔振平台不同的力学传递要求方面有更好的性能。
- 控制力矩陀螺 /
- 主动隔振 /
- 姿态机动 /
- 线性变参数 /
- 鲁棒控制
Abstract:
When the control moment gyro (CMG) is used to achieve agile attitude maneuvering control, the mechanical CMG vibration should be effectively isolated after the maneuvering is in place to achieve high-stability attitude control, while the rapid response of the control output torque is ensured during the maneuvering. This paper presents a design of outrigger controller for CMG vibration isolation platform based on linear parameter varying (LPV), setting the angular velocity of the CMG outer frame as a variable parameter. A comparison with other active vibration isolation methods demonstrates better performance of the design in different mechanical transmission requirements for the vibration isolation platform during agile attitude maneuvering and after the maneuvering in place.
- control moment gyro /
- active vibration isolation /
- attitude maneuver /
- linear parameter varying /
- robust control

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图 1 单支腿隔振的简化结构模型

Figure 1. Simplified structure model of single vibration isolation outrigger

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图 2 单支腿主动隔振平台控制器动力学模型

Figure 2. Dynamic model of single leg isolation platform controller

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图 3 构建加权函数后的系统框图

Figure 3. Block diagram of system with weighting function

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图 4 ω_out的加权函数频率特性

Figure 4. Weighting function of ω_out frequency characteristics

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图 5 极点配置区域

Figure 5. Pole placement area

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图 6 不同控制器的闭环Bode图

Figure 6. Closed-loop Bode diagrams of different controllers

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图 7 阶跃输入PID控制器

Figure 7. PID controller of step input

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图 8 阶跃输入H∞控制器

Figure 8. H∞ controller of step input

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图 9 阶跃输入本文LPV控制器

Figure 9. LPV controller of step input

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图 10 高频干扰（f_c=25 Hz）输入本文LPV控制器

Figure 10. LPV controller of high frequency interference (f_c=25 Hz) input

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表 1 不同控制器的隔振性能比较

Table 1. Comparison of vibration isolation performance with different controllers

控制器类型（f_c=25 Hz）	CMG端加速度/（m·s⁻²）	星体端加速度/（m·s⁻²）	稳态调节时间t_s/s	振动衰减率σ/%
PID	0.1004	0.00018	9.360	99.82
H∞	0.1008	0.00035	4.330	99.65
本文LPV	0.1009	0.00036	2.448	99.64

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参考文献(15)

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