空间站大柔性太阳电池翼驱动装置的滑模伺服控制

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摘要针对空间站大柔性太阳电池翼高稳定对日跟踪驱动控制问题，提出了一种带运动规划和振动抑制的非线性快速终端滑模伺服控制方案。推导了太阳电池翼驱动状态方程、永磁同步电机动力学模型，同时考虑驱动装置传动间隙、静/动摩擦力矩切换等非线性传动特性，在动力学建模基础上设计高次样条运动规划、位置环积分分离调节器、速度环快速终端滑模变结构调节器的组合控制系统。通过对太阳电池翼对日跟踪过程的仿真校验，表明设计的控制方案可实现大惯量、超低频太阳电池翼较高的驱动速度稳定度和较好的跟踪精度。

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	赵真1
	2
	王碧2
	陈国平1

关键词 ：柔性太阳电池翼, 伺服控制, 快速终端滑模控制, 挠性抑制

Abstract：Aiming at driving control problem of a large flexible solar cell wing in space station, a nonlinear fast terminal sliding mode (FTSM) servo control scheme with motion planning and vibration suppression was proposed.The driving state equation of the flexible solar cell wing and dynamic model of permanent magnet synchronous motor (PMSM) were derived considering driving device’s nonlinear transmission characteristics including transmission clearance, static/dynamic friction torque switching.Based on dynamic modeling, a combined control system including motion planning with high spline function, position loop integral separation regulator and velocity loop fast terminal sliding mode variable structure regulator was designed.The simulation verification for solar cell wing’s tracking sun process was done.The results showed that the designed control scheme can realize higher driving speed stability and better tracking accuracy of solar cell wing with large inertia and ultra-low frequency.

Key words： large flexible solar cell wing servo control fast terminal sliding mode control vibration suppression

收稿日期: 2018-06-13 出版日期: 2020-01-28

引用本文:

赵真1,2，王碧2，陈国平1. 空间站大柔性太阳电池翼驱动装置的滑模伺服控制[J]. 振动与冲击, 2020, 39(3): 214-218.
ZHAO Zhen1,2, WANG Bi2, CHEN Guoping1. Sliding mode servo control of a large flexible solar cell wing driving device. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(3): 214-218.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2020/V39/I3/214

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