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基于拉格朗日法建立柔性线缆连接的分离式磁耦合卫星刚柔耦合动力学模型,并基于该模型研究柔性线缆对分离式卫星隔振性能以及指向性能的影响。仿真结果表明,柔性线缆将明显降低分离式卫星对服务模块低频扰动的隔振性能,由于柔性线缆的存在,低频扰动将使载荷模块稳态时的姿态精度和稳定度大幅下降。柔性线缆也会影响载荷模块的指向控制精度,采用相同的PD控制器,有柔性线缆时载荷模块指向稳态误差大于无柔性线缆时载荷模块指向稳态误差4个数量级。柔性线缆对载荷模块性能影响明显,所建动力学模型对提高分离式卫星建模和控制精度有重要意义。
Based on the Lagrange method, a flexible coupled rigid-flexible coupled dynamic model of the magnetic coupling satellite was established. Based on the model, the influence of the flexible cable on the vibration isolation performance and the pointing performance of the separated satellite was studied. The simulation results show that the flexible cable can significantly reduce the vibration isolation performance of the low-frequency disturbance of the service module due to the separated satellite. Due to the existence of the flexible cable, the low-frequency disturbance will greatly reduce the attitude accuracy and stability of the load module in the steady state. The flexible cables also affect the pointing control accuracy of the load module. The same PD controller is used. When the flexible module is used, the load module points to a steady-state error greater than four-orders of magnitude when the load module points to the steady-state error. Flexible cables have a significant impact on the performance of load modules. The dynamic model built is of great significance for improving the modeling and control accuracy of separate satellites.