空间陀螺柔性多体系统动力学与控制研究

项目名称： 空间陀螺柔性多体系统动力学与控制研究

项目编号： No.11272027

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 数理科学和化学

项目作者： 贾英宏

作者单位： 北京航空航天大学

项目金额： 80万元

中文摘要： 目前，空间多柔体系统的多体运动均采用关节驱动方式实现，关节处的作用力矩/反作用力矩使得系统动力学耦合显著；此外，关节驱动方式也使得系统控制自由度受到很大限制。上述因素使得此类航天器的高精度控制问题一直是航天领域的技术难题。为解决这一问题，本项目提出空间陀螺柔性多体系统的概念，即在多柔体系统中的运动体上安装角动量交换装置，同时控制多体刚性运动和柔性振动，而关节处无需安装驱动机构。项目将系统地研究该类多体系统的动力学与控制问题，研究内容包括：具有非线性运动特性的空间陀螺柔性体动力学与姿态-形状协同控制；空间陀螺柔性多体系统的动力学建模方法研究；空间陀螺多体系统与关节驱动多体系统的动力学耦合对比研究；空间陀螺柔性多体系统多目标协调控制；混合执行机构的系统控制问题。项目完成后，将为空间多柔体系统提供新的控制方案和方法，有效地提高系统控制精度，并进一步丰富多柔体系统动力学与控制方面的研究成果。

中文关键词： 陀螺柔性体；空间多体系统；动力学与控制；控制力矩陀螺；多目标控制

英文摘要： The space multibody systems have been actuated by joint actuators for decades. The torques and reaction torques at the joints make the dynamics of the system strongly coupled. Moreover, the number of the degrees of freedom for the system control input is limited by the joint actuation format,which makes it difficult to control the rigid motion and suppress the elastic vibration simultaneously. All the above factors make the high precision control of space multibody systems a challenging technical problem. To solve this problem, the gyroelastic multibody system is proposed in this project. The momentum exchange devices are mounted on the elastic body to control the rigid motion and suppress the elastic vibration simultaneously; and more importantly, it will reduce the dynamic coupling between the bodies. This study will conduct a systematic research into the dynamics and control of gyroelastic multibody systems. The main research contents include: dynamics and attitude/shape control of gyroelastic body with nonlinear dynamic properties; dynamic modeling of gyroelastic multibody systems; comparison of dynamics coupling between gyroelastic multibody systems and joint-actuated multibody systems; multi-objective control of gyroelastic multibody system; hybrid (joint motors and momentum exchange devices) actuation pro

英文关键词： Gyroelastic body；Space multibody system；Dynamics and control；Control moment gyros；Multi-objective control