基于特征模型的挠性结构自适应振动控制

航天器是一种由中心刚体和挠性附件组成的刚柔耦合复杂系统，由于系统调姿或外部扰动作用时将引起振动，尤其是在平衡位置的小幅度振动对姿态稳定度和指向控制精度严重影响，并且难以控制．为了解决该问题，采用基于特征模型的黄金分割自适应控制方法，并引入逻辑微分阻尼项进行振动主动控制．建立了刚柔耦合结构实验平台，进行了包括位置设定点及转动振动主动控制的算法实验比较，结果表明，采用的基于特征模型的方法得到了比较理想的振动抑制效果，尤其是对低频小幅值振动的抑制，在相同条件下，与传统控制方法相比，大大减少了振动抑制的时间．实验研究表明采用的算法快速抑制振动的有效性．

Adaptive control for vibration of flexible structures based on the characteristic model

Spacecraft are kinds of coupled systems made up of rigid bodies and flexible appendages. Vibration is unavoidably induced by attitude control or external excitations. Low amplitude vibration near the equilibrium point is especially difficult to suppress, and this is harmful to stability and attitude control accuracy. To solve this problem, a golden section adaptive control method based on the characteristic model was adopted, in which a differential damping term was introduced to suppress vibration. An experimental setup was designed and manufactured to verify this approach. The effectiveness of active vibration controllers at suppressing unwanted vibration due to environmental excitation was investigated, especially undesirable oscillations caused by motor torque during hub slewing. Experimental results show that this algorithm not only increases the effectiveness of vibration damping but also damps low amplitude vibrations near the equilibrium point faster than traditional control schemes, proving that this control scheme improves control of vibration.