带柔性载荷超静平台的模型参数在轨辨识

doi:10.3969/j.issn.1674-1579.2018.03.001

空间控制技术与应用

带柔性载荷超静平台的模型参数在轨辨识

齐田雨, 汤亮, 张科备

1.北京控制工程研究所,北京 100094;2.空间智能控制技术重点实验室，北京 100094.

出版日期:2018-06-26 发布日期:2018-07-16
作者简介:作者简介：齐田雨（1993—），女，硕士研究生，研究方向为航天器主动隔振与精确指向控制；汤亮（1976—），男，研究员，研究方向为航天器动力学与控制；张科备（1985—），男，博士研究生，研究方向为航天器精确指向和高稳定控制.
基金资助:
国家自然科学基金资助项目(11502017).

On Orbit Parameter Identification of UltraQuiet Platform with Flexible Payloads

QI Tian-Yu, TANG Liang, ZHANG Ke-Bei

1.Beijing Institute of Control Engineering, Beijing 100094, China;2. Key Laboratory of Space Intelligent Control Technology, Beijing 100094, China.

Online:2018-06-26 Published:2018-07-16
Supported by:
Supported by The National Natural Science Foundation of China(11502017).

摘要/Abstract

摘要： 摘要：针对柔性载荷振动引起超静平台模型参数在轨辨识精度下降的问题，设计一种超静平台模型参数在轨辨识方法.建立考虑柔性载荷振动的超静平台动力学模型，采用卡尔曼滤波估计柔性载荷振动的模态位移，利用多参数并发递推最小二乘法实现超静平台模型参数的准确辨识，通过仿真验证算法的有效性.仿真结果表明：在不考虑柔性载荷振动时，超静平台模型参数辨识收敛速度缓慢，辨识误差较大；采用文中考虑柔性载荷振动的多变量并发递推最小二乘法，能够明显提高超静平台模型参数估计精度.

关键词: 关键词：柔性载荷, 超静平台, 参数辨识

Abstract: Abstract： On an ultraquiet platform, the vibration of flexible payloads will decrease the onorbit identification accuracy of platform model parameters. Based on the multiple concurrent recursive least square method (MCRLS)，a parameter identification method is proposed, which improves the onorbit identification accuracy of the parameters of ultraquiet platform and provides precise dynamic models. The ultraquiet platform dynamic model is established with the flexible payload vibration. The Kalman Filter is used to estimate the vibration mode of the flexible payload. The parameters of the dynamic model are identified via recursive least square method. Simulation results show that, the estimation precision of ultraquiet platform model parameters is improved with the proposed method, compared with the one without consideration of the vibration of flexible payloads.

Key words: Keywords： flexible payload, ultraquiet platform, parameter identification

中图分类号:

V447

齐田雨, 汤亮, 张科备. 带柔性载荷超静平台的模型参数在轨辨识[J]. 空间控制技术与应用, 2018, 44(3): 1-6.

QI Tian-Yu, TANG Liang, ZHANG Ke-Bei. On Orbit Parameter Identification of UltraQuiet Platform with Flexible Payloads[J]. , 2018, 44(3): 1-6.

参考文献

参考文献［1］关新, 陈守磊, 崔颖慧, 等. 超静敏捷卫星隔振与控制动力学耦合及协同设计方法［J］. 空间控制技术与应用, 2015, 41(1): 2125. GUAN X, CHEN S L, CUI Y H, et al. Dynamics coupling and integrated design in vibration isolation and attitude control design of ultraquiet agile satellites［J］. Aerospace Control and Application, 2015, 41(1): 2125. ［2］YANG J, XU Z, WU Q, et al. Dynamic modeling and control of a 6DOF microvibration simulator［J］. Mechanism and Machine Theory, 2016, 104: 350369. ［3］TOURAJIZADEH H, YOUSEFZADEH M, TAJIK A. Closed loop optimal control of a Stewart platform using an optimal feedback linearization method［J］. International Journal of Advanced Robotic Systems, 2016, 13(3): 134. ［4］王有懿, 汤亮, 何英姿. 超静平台动力学建模与解耦控制［J］. 空间控制技术与应用. 2016, 42(4): 611. WANG Y Y, TANG L, HE Y Z. Dynamic modeling and decoupled control of ultra quietplatform［J］. Aerospace Control and Application. 2016, 42(4): 611. ［5］LUZI L, SANCISI N, CASTELLI V P. A new direct position analysis solution for an overconstrained goughstewartplatform［M］.Computational Kinematics. Springer, Cham, 2018: 585592. ［6］YANG X L, WU H T, LI Y,et al. Dynamic isotropic design and decentralized active control of a sixaxis vibration isolator via Stewartplatform［J］. Mechanism and Machine Theory, 2017, 117: 244252 ［7］LI Y W, WANG J S, WANG L P. Stiffness analysis of a Stewart platformbased parallel kinematic machine［C］∥Robotics and Automation, 2002. Proceedings. ICRA’02. IEEE International Conference New York:IEEE, 2002, 4: 36723677. ［8］LI X, DAI S,ZENG R. UKF based filtering and curve fitting for estimating the joint stiffness of Stewart platform［C］∥Guidance, Navigation and Control Conference (CGNCC).New York:IEEE, 2016: 16391643. ［9］HUANG X H, DYKE S, SUN Z X, et al. Simultaneous identification of stiffness, mass, and damping using anonline model updating approach［J］. Structural Control and Health Monitoring, 2017, 24(4):1892. ［10］CHEN C T. Hybrid approach for dynamic model identification of an electrohydraulic parallel platform［J］. Nonlinear Dynamics, 2012, 67(1):695711. ［11］WILSON E, SUTTER D W,MAH R W. Multiple concurrent recursive least squares identification［C］∥Proceedings IASTED International Conference on Intelligent Systems and Control.2004. ［12］李林, 王栋, 杨洪波, 等. 空间相机柔性减振支撑结构的优化设计［J］. 光学精密工程,2016, 24(7):16771684 LI L, WANG D, YANG H B, et al. Optimization design of flexible and damping support structure of space camera［J］. Optics and Precision Engineering,2016,24(7):16771684.

[1]	王有懿, 汤亮, 何英姿. 超静平台动力学建模与解耦控制[J]. 空间控制技术与应用, 2016, 42(4): 6-.
[2]	程俊波, 张强, 虎刚, 于国庆, 陆栋宁. 一种高稳定度帆板驱动系统的摩擦参数辨识[J]. 空间控制技术与应用, 2016, 42(2): 14-19.
[3]	倪智宇, 谭述君, 吴志刚. 航天器周期时变模态参数闭环在轨辨识的子空间方法[J]. 空间控制技术与应用, 2014, 40(4): 14-19.
[4]	朱孟萍, 徐世杰, 陈新龙 , 李志 , 江玲. 基于参数辨识的大型航天器自适应角动量管理[J]. 空间控制技术与应用, 2014, 40(3): 47-52.
[5]	熊凯, 孟斌, 王丽娇. 时变参数辨识梯度算法稳定性分析[J]. 空间控制技术与应用, 2012, 38(5): 14-21.

带柔性载荷超静平台的模型参数在轨辨识

On Orbit Parameter Identification of UltraQuiet Platform with Flexible Payloads

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

Metrics

本文评价

推荐阅读 0