Deployment and control of flexible solar array system considering joint friction
Deployment and control of flexible solar array system considering joint friction
复制标题
考虑关节摩擦的柔性太阳能电池阵系统部署与控制
DOI：
10.1007/s11044-016-9534-7
复制
发表时间：
2017
影响因子：
3.4
通讯作者：
Cai Guo-Ping
中科院分区：
文献类型：
--
作者：
Li Hai-Quan;Duan Liu-Cheng;Liu Xiao-Feng;Cai Guo-Ping
众所周知，传统的建模理论采用笛卡尔坐标系建立太阳电池阵系统的动力学方程。该方程的阶数往往很高，给控制器设计带来不便。笛卡尔坐标在实际中很难测量。本文以关节坐标为广义变量，建立了太阳电池阵系统的动力学方程。采用单向递推构造法和牛顿变速原理对系统进行建模。所建立的方程阶数较低，且易于实际测量。除了动力学建模外，本文还对关节摩擦和控制设计进行了深入的研究。建立了一个三维转动关节模型，推导了关节摩擦对系统动力学方程的贡献。设计了一种模糊PD控制器来消除太阳帆板展开引起的航天器漂移。最后，通过数值仿真分析了摩擦力作用下太阳帆板系统的展开动力学和控制效果。
It is well known that the traditional modeling theories adopt the Cartesian coordinates to establish the dynamic equation of solar array system. The order of this equation is often very high, which is inconvenient for controller design. The Cartesian coordinates are difficult to be measured in practice. In this paper, the joint coordinates are used as generalized variables to establish the dynamic equation of the solar array system. The single direction recursive construction method and the Jourdain’s velocity variation principle are used in modeling the system. The order of the established equation is lower, and the joint coordinates are easily measured in practice. Besides the dynamics modeling, joint friction and control design are extensively studied in this paper too. A three-dimensional revolute joint model is introduced, and the contribution of joint friction to the dynamic equation of the system is deduced. A fuzzy PD controller is designed to eliminate the drift of spacecraft caused by the deployment of solar array. In the end of this paper, numerical simulations are carried out to analyze the deployment dynamics and control effect of the solar array system with friction.