论文部分内容阅读
本文针对柔性结构在轨组装任务背景,将自动飞船和待运送部件分别简化为中心刚体和柔性梁附件,研究自由漂浮中心刚体-柔性梁系统的动力学与控制问题.首先基于小变形和低转速假设,将梁用假设模态法离散,采用Lagrange方程导出系统动力学方程.继而设计一种带有应变反馈的PD控制律用于完成中心刚体的状态镇定以及柔性梁振动抑制.此外,本文还使用遗传算法对控制器中的参数进行多目标优化.最后,通过数值算例验证了所设计控制器的有效性.
In this paper, aiming at the task of on-orbit assembly of flexible structures, the airship and components to be transported are simplified as the center rigid body and flexible beam attachment respectively to study the dynamics and control of the free-floating center rigid body-flexible beam system.Firstly, based on small deformation and low rotation speed It is assumed that the beam is discretized using the hypothetical modal method, and the Lagrange equation is used to derive the system dynamics equation. Then a PD control law with strain feedback is designed to complete the state stabilization of the center rigid body and the vibration suppression of the flexible beam. The genetic algorithm is used to optimize the parameters in the controller.Finally, numerical examples are given to verify the effectiveness of the proposed controller.