基于Stewart平台的大柔性空间桁架结构振动控制

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振动与冲击 ›› 2012, Vol. 31 ›› Issue (23) : 148-153.

论文

基于Stewart平台的大柔性空间桁架结构振动控制

罗波李伟鹏黄海

作者信息 +

Vibration control of large flexible space truss using a Stewart platform manipulator

LUO Bo LI Weipeng HUANG Hai

Author information +

文章历史 +

摘要

针对大柔性空间桁架结构的振动主动控制问题，提出一种根部测控一体化方案，即采用CCD相机在桁架根部对桁架振动进行非接触式测量和采用Stewart六杆并联平台固连在柔性桁架根部作为主动设备进行振动控制。采用ADC自适应控制算法，并基于dSPACE实时仿真系统，搭建了振动控制实验平台。文中使用音圈电机激振器分别作为外扰和内扰，激发柔性桁架的低阶模态，通过视觉测量系统测得振动信号，采用Stewart平台在桁架根部对振动进行抑制。低频外扰谐振实验，桁架振动振幅衰减87.7%；低频内扰谐振实验，桁架振动振幅衰减91.8%。实验结果证明文中提出的桁架振动根部测控一体化方案的有效性，尤其适用于空间可展开结构的振动控制。

Abstract

An active vibration control strategy based on vision measurement and a Stewart platform manipulator (SPM) for large flexible space truss is presented in this paper. The bottom of the truss is mounted on a SPM which is used as the active performer while a CCD camera is used for the measurement of the vibration. An adaptive disturbance canceller (ADC) is designed, and then the control test system for the flexible truss is built based on the dSPACE real-time simulation system. Two resonance experiments are carried out, in which a voice coil motor is used to excite the first-order mode of the truss, as external and internal disturbance respectively. The vibration amplitudes decrease by more than 87.7% and 91.8% in the resonance experiments with external and internal disturbance respectively. The results show that the active control strategy is significantly effective in vibration control of large flexible truss, and it is applicable for space extendable structure particularly.

导出引用

罗波李伟鹏黄海 . 基于Stewart平台的大柔性空间桁架结构振动控制[J]. 振动与冲击, 2012, 31(23): 148-153

LUO Bo LI Weipeng HUANG Hai . Vibration control of large flexible space truss using a Stewart platform manipulator[J]. Journal of Vibration and Shock, 2012, 31(23): 148-153