Stewart平台卫星动力学建模与姿态指向一体化控制

针对Stewart平台卫星大范围快速机动后的指向控制问题，提出了考虑翼板柔性的Stewart平台卫星动力学建模与姿态指向一体化控制方法。对考虑柔性翼板的Stewart平台卫星的动力学建模与主动控制进行了研究，采用力学基本原理和混合坐标法建立系统的刚柔耦合精确动力学模型，并提出一种同时考虑平台载荷指向与隔振的协同控制方案。数值仿真结果表明，所建立的动力学模型能够准确地描述系统的动力学行为，所提控制方案能够有效提高卫星平台的姿态指向精度。与未施加控制的情况相比，该方案能够将支撑杆的变形量减少到千分之一，从而保证了结构安全。此外，还分析了翼板柔性对Stewart平台卫星姿态控制的影响，结果表明翼板柔性对下平台姿态精度有较大影响，对上平台姿态精度影响较小。

Dynamics modeling and integrated attitude pointing control of a Stewart platform satellite

Aiming at the steering control problem of the Stewart platform satellite after a large range of rapid maneuvering,a dynamics modeling and an integrated control method for attitude pointing of the Stewart platform satellite were proposed,which took into account the flexibility of the solar panel.The dynamics modeling and active control of Stewart platform satellite were investigated to improve this pointing accuracy of the platform load in such satellite.A rigid flexible coupling accurate dynamics model based on the fundamental principle of mechanics and the mixed coordinate method was established and a control design method considering platform load pointing and vibration isolation was presented.The numerical simulation results demonstrate that the established dynamics model can effectively describe the dynamics behavior of the system,and the control method can achieve higher attitude pointing accuracy.Compared with the situation without the control,the scheme can reduce the deformation of the supporting rod to one thousandth and ensure the structural safety.In addition,the effect of windsurfing flexibility on satellite attitude control of Stewart platform was also analyzed.The results show that the flexibility of solar panel has a great influence on the attitude accuracy of the lower platform and has a small effect on the attitude accuracy of the upper platform.