针对扰动及卫星本体振动传递对高精度载荷姿态控制的影响,研究了基于音圈式Stewart隔振平台的零刚度超静卫星及其姿态控制问题。利用音圈作动器在电磁作用原理下存在结构间隙的特点,实现卫星载荷舱与本体舱结构非接触,理论上完全隔离振动。围绕该零刚度卫星两舱非接触引发的姿态控制难题,综合滑模控制强抗干扰能力和动态逆控制形式简明的特点,提出了鲁棒复合控制律,可弥补滑模控制律等效控制过于繁琐和动态逆控制器鲁棒性的不足,并证明了在该控制器作用下不确定动态系统的闭环稳定性。建立了载荷舱和本体舱的动力学与运动学模型,基于两舱相对动力学和运动学关系的分析,设计了载荷舱高精度高稳姿态控制和本体舱精确跟踪姿态控制律,证明了复合控制律的有效性。仿真结果表明:该零刚度卫星能实现较高的姿态控制精度,验证了所提算法的可行性及潜在的应用价值。 In view of the influence of disturbance and satellite body vibration transfer on high-precision attitude control, zero-stiffness hyperstropic satellite based on voice coil Stewart vibration isolation platform and its attitude control problem are studied. The use of voice coil actuators under the principle of electromagnetic interaction exists in the structure of the gap characteristics of the satellite payload and the bulk of the structure of non-contact, theoretically completely isolated vibration. Based on the non-contact attitude control problem caused by the zero-satellites two-cabin non-contact, the robust composite control law is proposed based on the comprehensive anti-interference ability of sliding mode control and the concise form of dynamic inverse control. It can make up for the equivalent control of sliding mode control law is too excessive Tedious and dynamic inverse controller, and prove the closed-loop stability of the uncertain dynamic system under the control of the controller. Based on the analysis of the relative dynamics and kinematics of the two compartments, the attitude control law of the high precision and stability of the load compartment and the accurate tracking of the ontology cabin are designed. It is proved that the composite The effectiveness of control law. The simulation results show that the zero-stiffness satellite can achieve high attitude control accuracy and verify the feasibility and potential application of the proposed algorithm.