太阳帆板驱动机构微振动建模及摩擦补偿研究

从太阳帆板驱动机构（SADA）微振动产生机理出发，考虑电机谐波力矩和导电环摩擦力矩对电机输出力矩的影响，建立以永磁同步电机（PMSM）为驱动源的闭环SADA模型及其与挠性负载耦合的动力学方程.通过拟合电机低速运行时导电环摩擦力矩随转速的变化曲线，利用非线性最小二乘法辨识摩擦模型静态参数，并在电机闭环反馈调节机制中引入摩擦补偿环节.通过对比和分析摩擦补偿前后电机控制量以及帆板转速输出的变化，仿真结果表明摩擦补偿在一定程度上消除了摩擦对SADA低速运行性能的影响，为降低SADA对超静卫星平台和高性能载荷的影响以及展开对其微振动优化和抑制提供依据.

Micro-Vibration Modeling of SADA and Friction Compensation for the Control of PMSM

From learning the mechanism of SADA （solar array drive assembly） micro vibration, taking motor ripple torque and friction of slip ring into account, a systemic model of the closed loop SADA driven by PMSM （permanent magnet synchronous motor） is established. The coupling dynamical equation between flexible solar cell arrays and motor driver is built. The friction of slip ring is modeled by Striebeck effect, whose parameters are identified off line via nonlinear least square. Based on PI control strategy, the feed forward compensation is presented with the estimated value of the identified model. The simulation results show that the model based friction compensation can accurately estimate and compensate the friction nonlinearity with high precision and faster system response, by which the accuracy of speed tracking and performance of motor at low velocity are improved.