Research On Robust Vibration Supression Of Flexible Spacecraft With Control Moment Gyros Embedded In Solar Panels

The flexible spacecraft with control moment gyros embedded in the solar panels(called gyroelastic spacecraft in this thesis)is a new concept spacecraft and the flexible solar panel on it(called gyroelastic solar panel in this thesis)is a combination of variable speed control moment gyros embedded in the flexible solar panel.Active vibration suppression of flexible solar panel can be realized by using the control torque generated by Variable-Speed Control Moment Gyroscopes.However,with the introduction of gyroscopic characteristics,the coupling between Variable-Speed Control Moment Gyroscope and flexible plate structure will occur.The mass,inertia and deployment position of Gyroscopes will influence the dynamic characteristics of this combined structure,and then influence the dynamic characteristics of the gyroelastic spacecraft.Therefore,this thesis conducts an in-depth study on the robust vibration suppression of the gyroelastic spacecraft,focusing on solving the following problems:the ‘spillover’ problem of vibration suppression under the condition of high-order unmodeled dynamic characteristics of the gyroelastic solar panel,the robustness problem of vibration suppression under the condition of parameteric uncertainty of the gyroelastic solar panel,and the robust vibration suppression of the rigid-flexible coupling attitude maneuver of the gyroelastic spacecraft.The main research contents are given as follows:In order to solve the ’spillover’ problem of vibration suppression under the condition of high-order unmodeled dynamic characteristics of gyroelastic solar panel,the optimal parameter positive position feedback control method based on solving non-smooth H∞ synthesis problem is proposed.This method not only has the advantages of simple structure and easy engineering implementation of positive position feedback controller and can independently control the modes of each order gyro,but also can obtain the optimal parameters of positive position feedback controller stably and efficiently under the premise of ensuring fast and robust control performance,so as to realize the active vibration robust suppression of gyroelastic solar panel.In order to solve the robustness problem of vibration suppression of gyroelastic solar panel with parameteric uncertainty and high-order unmodeled dynamic characteristics,a μ-synthesis control method based on MIMO weights analytical design is proposed.In this method,the two-norm of the performance output,the modal damping of the closed-loop system and the relative control ability of the different actuators to each mode are connected with the weights in the design of the μ-synthesis controller,which can realize the efficient analytical calculation of the weights,and then realize the active vibration robust suppression of the gyroelastic solar panel under the conditions of parametric uncertainty and high-order unmodeled dynamic characteristics.In addtion,the control effects of μ-synthesis control and the aforementioned optimal parameter positive position feedback controller are compared,including vibration attenuation,energy ultilization,robust performance and robust stability.In order to realize robust vibration suppression in attitude maneuver of gyroelastic spacecraft,the gyroelastic spacecraft with two gyroelastic solar panels is taken as the research object.Firstly,the rigid-flexible coupling attitude dynamics model of gyroelastic spacecraft is derived in detail.Then,a rigid-flexible coupling attitude hybrid control method of gyroelastic spacecraft based on input shaping is proposed.The input shaping method is effectively combined with the μ-synthesis control method and the optimal positive position feedback control method to realize the robust vibration suppression of the rigid-flexible coupling attitude maneuver of the gyroelastic spacecraft.The control effects of two hybrid control schemes,’ input shaping + proportional differential + μ-synthesis control ’ and ’ input shaping + proportional differential + optimal parameter positive position feedback control ’,are compared.