阅读说明：本技术 基于分布式角动量的柔性结构振动能量一体化控制方法 (Flexible structure vibration energy integrated control method based on distributed angular momentum ) 是由 郭川东 胡权 刘菲 沈东� 张尧 张军 李晓辉 刘维惠 于 2019-10-09 设计创作，主要内容包括：本发明公开的基于分布式角动量的柔性结构振动能量一体化控制方法,属于航空航天技术领域。本发明实现方法为：通过在柔性航天器上分布式安装角动量交换装置和敏感器,建立柔性航天器系统的振动方程、功率方程及量测矩阵；根据角动量交换装置选择角动量交换装置工作模式,角动量交换装置工作模式包括“变速控制力矩陀螺”模式、“动量轮”模式和“控制力矩陀螺&动量轮”组合模式；基于选择的角动量交换装置工作模式,选择同时满足其他子系统功率需求、实现柔性结构振动抑制的角动量交换装置操纵律,实现基于分布式角动量的柔性结构振动能量一体化控制。本发明能够减少储能系统的重量,从而减小分布式角动量交换装置对整个系统的质量和惯量的影响。(The invention discloses a distributed angular momentum-based flexible structure vibration energy integrated control method, and belongs to the technical field of aerospace. The implementation method of the invention comprises the following steps: establishing a vibration equation, a power equation and a measurement matrix of a flexible spacecraft system by installing angular momentum exchange devices and sensors on a flexible spacecraft in a distributed manner; selecting an angular momentum exchange device working mode according to the angular momentum exchange device, wherein the angular momentum exchange device working mode comprises a variable speed control moment gyro mode, a momentum wheel mode and a control moment gyro and momentum wheel combined mode; based on the selected working mode of the angular momentum exchange device, the manipulation law of the angular momentum exchange device is selected, the power requirements of other subsystems are met, vibration suppression of the flexible structure is achieved, and integrated control of vibration energy of the flexible structure based on distributed angular momentum is achieved. The invention can reduce the weight of the energy storage system, thereby reducing the influence of the distributed angular momentum exchange device on the mass and inertia of the whole system.)

1. The flexible structure vibration energy integrated control method based on distributed angular momentum is characterized by comprising the following steps: comprises the following steps of (a) carrying out,

the method comprises the following steps: a plurality of angular momentum exchange devices and sensors are arranged on the flexible structure in a distributed manner;

step two: establishing a vibration equation, a power equation and a measurement matrix of the flexible structure system;

step three: selecting a working mode of the angular momentum exchange device according to the angular momentum exchange device, and selecting an angular momentum exchange device control law which can meet the power requirements of other subsystems and realize flexible structure vibration suppression at the same time, namely realizing flexible structure vibration energy integrated control based on distributed angular momentum;

the other subsystems refer to: all subsystems on the flexible structure except for distributed angular momentum;

the finger meeting other subsystem power requirements means: when the power supply of other subsystems is over, the control system can absorb the redundant energy of other subsystems, and when the power supply of other subsystems is short, the control system can release the energy to supplement the requirements of other subsystems;

the flexible structure vibration suppression implementation means that: when the flexible structure vibrates, the control system can actively inhibit the vibration; when the flexible structure is not vibrating or has small amplitude, the control system is able to absorb or release energy while maintaining good damping of the structure.

2. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 1, wherein: the working modes of the angular momentum exchange device comprise the following three modes:

the first method is as follows: "variable speed control moment gyro" mode: the angular momentum exchange device is a variable speed control moment gyro which mainly comprises a flywheel rotating at a high speed and a frame outputting moment; the system works in a mode of 'variable speed control moment gyro', fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device to store or release energy by selecting an acceleration law of the flywheel, and meets the power requirements of other subsystems by storing or releasing the energy of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure, namely, the energy storage system and the vibration suppression system are integrated into a system by simultaneously selecting the acceleration law of the flywheel and the manipulation law of the frame shaft, so that the flexible structure vibration energy integrated control based on the distributed angular momentum is realized;

the second method comprises the following steps: "momentum wheel" mode: the angular momentum exchange device is of various configurations derived from a control moment gyro, a momentum wheel or a variable speed control moment gyro and the momentum wheel; the angular momentum exchange device works in a 'momentum wheel' mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is in a column matrix form, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of a flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that an energy storage system and a vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized;

the third method comprises the following steps: the combined mode of the control moment gyro and the momentum wheel is as follows: the angular momentum exchange device is of various configurations derived from a control moment gyro, a momentum wheel or a variable speed control moment gyro and the momentum wheel; when the amplitude of the flexible structure is large, the variable-speed control moment gyroscope works in a 'control moment gyroscope' mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that the energy storage system and the vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

3. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 2, wherein: the sensors include MEMS angular velocity meters and linear velocity meters.

4. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 1, 2 or 3, wherein: for a constraint boundary gyroscope flexible structure for installing a variable speed control moment gyroscope, the method comprises the following steps,

the method comprises the following steps: n variable speed control moment gyroscopes are installed on the constraint boundary flexible structure in a distributed mode, and n angular speed meters are installed in a co-location mode;

step two: establishing a vibration equation, a power equation and a measurement matrix of a flexible structure of the constraint boundary gyroscope;

step 2.1: establishing a vibration equation of a flexible structure of a constraint boundary gyroscope;

establishing a constraint boundary gyroscope flexible structure vibration equation as

Wherein:is the modal coordinate of the flexible structure, k is the order of the modal coordinate describing the elastic movement of the flexible structure; e_aA modal mass matrix representing a flexible structure with a variable speed control moment gyro; d_bAnd Λ_bRespectively representing a rigidity matrix and a damping matrix; g is a gyro coupling matrix;

wherein:

Wherein:

step 2.2: establishing a power equation of a flexible structure of the constraint boundary gyroscope;

the energy storage and discharge power of the flexible structure of the constraint boundary gyroscope is

Wherein:

step 2.3: establishing a measuring matrix of a constraint boundary gyroscope flexible structure;

the measuring direction of each angular velocity sensor is consistent with the torque direction generated when the variable speed control moment gyro works in the 'control moment gyro' mode at the initial time, and the measuring matrix is

Wherein:for the measurement of the i-th sensor,

Step three: according to the selected working mode of the angular momentum exchange device, selecting an angular momentum exchange device control law which can meet the power requirements of other subsystems and realize flexible structure vibration suppression at the same time, namely realizing the flexible structure vibration energy integrated control based on distributed angular momentum;

the working modes of the angular momentum exchange device comprise the following three modes:

the first method is as follows: "variable speed control moment gyro" mode: the angular momentum exchange device is a variable speed control moment gyro which mainly comprises a flywheel rotating at a high speed and a frame outputting moment; the system works in a mode of 'variable speed control moment gyro', fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device to store or release energy by selecting an acceleration law of the flywheel, and meets the power requirements of other subsystems by storing or releasing the energy of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure, namely, the energy storage system and the vibration suppression system are integrated into a system by simultaneously selecting the acceleration law of the flywheel and the manipulation law of the frame shaft, so that the flexible structure vibration energy integrated control based on the distributed angular momentum is realized;

the second method comprises the following steps: "momentum wheel" mode: the angular momentum exchange device is of various configurations derived from a control moment gyro, a momentum wheel or a variable speed control moment gyro and the momentum wheel; the angular momentum exchange device works in a 'momentum wheel' mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is in a column matrix form, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of a flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that an energy storage system and a vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized;

the third method comprises the following steps: the combined mode of the control moment gyro and the momentum wheel is as follows: the angular momentum exchange device is of various configurations derived from a control moment gyro, a momentum wheel or a variable speed control moment gyro and the momentum wheel; when the amplitude of the flexible structure is large, the variable-speed control moment gyroscope works in a 'control moment gyroscope' mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that the energy storage system and the vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

5. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 4, wherein: the specific implementation method is that the energy is stored or released by selecting the acceleration law of the flywheel and fully utilizing the flywheel rotating at high speed in the angular momentum exchange device, and the power requirements of other subsystems are met through the energy storage or release of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure;

step 3.1.1: based on a projection matrix method, a flywheel acceleration law is selected as

Wherein: p_dPower requirements for other subsystems;

step 3.1.2: selecting the frame axis manipulation law as

Wherein: feedback parameter k_d＝diag[k_d1,...,k_dn]，k_di>0。

6. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 4, wherein: the method specifically comprises the following steps of selecting an acceleration law of the flywheel based on a projection matrix method, wherein the acceleration law of the flywheel is in a column matrix form, dividing the acceleration law of the flywheel into two parts which are orthogonal to each other, wherein one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, and the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure;

step 3.2: based on a projection matrix method, a flywheel acceleration law is selected as

Wherein:

wherein: t is_cObtaining the expected vibration suppression modal force through negative feedback of a sensor measured value; s₁Is N (B)_Ω) Of the projection matrix, thus S₁u₁At B_ΩIn the null space of (1), i.e. S₁u₁Modal force cannot be generated; p_fThe flywheel power due to the vibration suppression requirement, i.e. the stored energy power, excluding the vibration suppression power, is subtracted from the total flywheel power.

7. The integrated control method for vibration energy of the flexible structure based on distributed angular momentum as claimed in claim 6, wherein: the third concrete implementation method is that when the amplitude of the flexible structure is large, the variable speed control moment gyro works in a control moment gyro mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, and the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure;

step 3.3.1: when the amplitude of the flexible structure is large, the variable-speed control moment gyro works in a 'control moment gyro' mode, and the frame axis manipulation law is selected as

Wherein: feedback parameter k_δ＝diag[k_δ1,...,k_δn]，k_δi>0；

Step 3.3.2: when the flexible structure does not vibrate or the amplitude is small, the variable speed control moment gyroscope works in a momentum wheel mode, and based on a projection matrix method, a flywheel acceleration law is selected as

Wherein:

Technical Field

The invention relates to a flexible structure vibration energy integrated control method based on distributed angular momentum, and belongs to the technical field of aerospace.

Background

With the improvement of the precision and capacity requirements of space missions, the sizes of solar sailboards and antennas of spacecrafts have been developed from ten meters to hundred meters. Different from the traditional 'central rigid body + flexible attachment' spacecraft, the flexible structure of the large-scale spacecraft becomes a system main body, and the control quantity must be applied to the flexible structure in a distributed manner, so that high-precision active control can be realized to meet task requirements. The angular momentum exchange devices such as momentum wheels, control moment gyros and the like are installed on the large flexible structure in a distributed mode, distributed modal force can be applied to achieve structural vibration suppression, and propellant is not consumed at the same time. The system thus obtained is called a gyroscopic flexure.

However, mounting angular momentum exchange devices on flexible structures increases the mass and inertia of the system, which is in conflict with the goal of lightweight design of flexible spacecraft. On the one hand, angular momentum exchange devices of smaller size, lighter weight can be used. On the other hand, the angular momentum exchange device can be fully utilized to have more functions, so that the mass of other subsystems is reduced. The invention provides a flexible structure vibration energy integrated control method based on distributed angular momentum, which makes full use of a flywheel rotating at a high speed in an angular momentum exchange device and stores energy by using the flywheel, so that an energy storage system and a vibration suppression system are integrated into a system. The scheme can reduce the weight of the energy storage system, thereby reducing the influence of the distributed angular momentum exchange device on the mass and inertia of the whole system.

Disclosure of Invention

The invention discloses a flexible structure vibration energy integrated control method based on distributed angular momentum, which solves the technical problems that: the flywheel rotating at high speed in the angular momentum exchange device is fully utilized, energy is stored by utilizing the flywheel, so that the energy storage system and the vibration suppression system are integrated into a system, and when the flexible structure vibrates, the control system can actively suppress the vibration; when the flexible structure does not vibrate or the amplitude is small, the control system can absorb or release energy while keeping the structure well damped; when the power supply of other subsystems is over demand, the control system can absorb the redundant energy of other subsystems, and when the power supply of other subsystems is short demand, the control system can release the energy to supplement the requirements of other subsystems. Through the improvement, the weight of the energy storage system can be reduced, and therefore the influence of the distributed angular momentum exchange device on the mass and inertia of the whole system is reduced.

The purpose of the invention is realized by the following technical scheme.

The invention discloses a distributed angular momentum-based flexible structure vibration energy integrated control method, which is characterized in that a plurality of angular momentum exchange devices and sensors are installed on a flexible spacecraft in a distributed manner, and a vibration equation, a power equation and a measurement matrix of a flexible spacecraft system are established; then selecting the working mode of the angular momentum exchange device according to the angular momentum exchange device, wherein the working mode of the angular momentum exchange device comprises a variable speed control moment gyro mode, a momentum wheel mode and a combined mode of the control moment gyro and the momentum wheel; and finally, based on the selected working mode of the angular momentum exchange device, selecting a manipulation law of the angular momentum exchange device which can meet the power requirements of other subsystems and realize the vibration suppression of the flexible structure, and realizing the integrated control of the vibration energy of the flexible structure based on the distributed angular momentum.

The invention discloses a distributed angular momentum-based flexible structure vibration energy integrated control method, which comprises the following steps of:

the method comprises the following steps: and a plurality of angular momentum exchange devices and sensors are arranged on the flexible structure in a distributed manner.

Step two: and establishing a vibration equation, a power equation and a measurement matrix of the flexible structure system.

Step three: and selecting the working mode of the angular momentum exchange device according to the angular momentum exchange device, and selecting the control law of the angular momentum exchange device which can meet the power requirements of other subsystems and realize the vibration suppression of the flexible structure, namely realizing the integrated control of the vibration energy of the flexible structure based on the distributed angular momentum.

The other subsystems refer to: all subsystems on the flexible structure except for distributed angular momentum.

The finger meeting other subsystem power requirements means: when the power supply of other subsystems is over demand, the control system can absorb the redundant energy of other subsystems, and when the power supply of other subsystems is short demand, the control system can release the energy to supplement the requirements of other subsystems.

The flexible structure vibration suppression implementation means that: when the flexible structure vibrates, the control system can actively inhibit the vibration; when the flexible structure is not vibrating or has small amplitude, the control system is able to absorb or release energy while maintaining good damping of the structure.

The working modes of the angular momentum exchange device comprise the following three modes:

the first method is as follows: "variable speed control moment gyro" mode: the angular momentum exchange device is a variable speed control moment gyro which mainly comprises a flywheel rotating at a high speed and a frame outputting moment. The system works in a mode of 'variable speed control moment gyro', fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device to store or release energy by selecting an acceleration law of the flywheel, and meets the power requirements of other subsystems by storing or releasing the energy of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure, namely, the energy storage system and the vibration suppression system are integrated into a system by simultaneously selecting the acceleration law of the flywheel and the manipulation law of the frame shaft, so that the flexible structure vibration energy integrated control based on the distributed angular momentum is realized.

The second method comprises the following steps: "momentum wheel" mode: the angular momentum exchange device is a control moment gyro, a momentum wheel or various configurations derived from a variable speed control moment gyro and the momentum wheel. The angular momentum exchange device works in a 'momentum wheel' mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is in a column matrix form, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of a flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that an energy storage system and a vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

The third method comprises the following steps: the combined mode of the control moment gyro and the momentum wheel is as follows: the angular momentum exchange device is a control moment gyro, a momentum wheel or various configurations derived from a variable speed control moment gyro and the momentum wheel. When the amplitude of the flexible structure is large, the variable-speed control moment gyroscope works in a 'control moment gyroscope' mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that the energy storage system and the vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

The small amplitude range and the medium amplitude range of the flexible structure are set according to task precision requirements.

Preferably, the sensors include a MEMS angular velocity meter and a linear velocity meter.

Preferably, for a constraint boundary gyroscope flexible structure for installing a variable speed control moment gyroscope, the vibration energy integrated control method of the flexible structure based on distributed angular momentum disclosed by the invention comprises the following steps:

the method comprises the following steps: n variable speed control moment gyroscopes are installed on the constraint boundary flexible structure in a distributed mode, and n angular speed meters are installed in a co-location mode.

Step two: and establishing a vibration equation, a power equation and a measurement matrix of the constraint boundary gyroscope flexible structure.

Step 2.1: and establishing a vibration equation of the flexible structure of the constraint boundary gyroscope.

Establishing a constraint boundary gyroscope flexible structure vibration equation as

Wherein:

is the modal coordinate of the flexible structure, k is the order of the modal coordinate describing the elastic movement of the flexible structure; e_aA modal mass matrix representing a flexible structure with a variable speed control moment gyro; d_bAnd Λ_bRespectively representing a rigidity matrix and a damping matrix; g is a gyro coupling matrix;

representing the generalized modal force generated by the acceleration of a rotor of the variable speed control moment gyroscope; omega is a rotor speed matrix, and omega is [ omega ]₁,...,Ω_n]^T，Ω_iThe rotor speed of the ith variable speed control moment gyro is controlled;

is a generalized modal force generated by the rotation of a frame shaft of the variable-speed control moment gyroscope;

is a matrix of the rotational speed of the frame shaft,

for the ith shift control forceThe frame shaft of the moment gyro rotates. Wherein the content of the first and second substances,

wherein:

and

respectively a translational modal vector and a rotational modal vector of a mass infinitesimal dm on a flexible structure; m is_giThe mass of the ith variable speed control moment gyro; j. the design is a square_giThe moment of inertia of the frame shaft of the ith variable speed control moment gyro; j. the design is a square_riThe moment of inertia of the gyro flywheel is the ith variable speed control moment,

A_b,gigyro frame axis coordinate system f for ith variable speed control moment_giTo the flexible structure body coordinate system f_bThe coordinate transformation matrix of (a) is,

and

is A_b,giThe column submatrix of (1);and

is that

The term (2) is used in (1),

and

is R_giThe row submatrix. The frame shaft moves by a small amount

Wherein:

chinese superscript "⁰"means

Is equal to

The value at the initial instant.

Step 2.2: and establishing a power equation of the flexible structure of the constraint boundary gyroscope.

The energy storage and discharge power of the flexible structure of the constraint boundary gyroscope is

Wherein:

step 2.3: and establishing a measurement matrix of the constraint boundary gyroscope flexible structure.

The measuring direction of each angular velocity sensor is consistent with the torque direction generated when the variable speed control moment gyro works in the 'control moment gyro' mode at the initial time, and the measuring matrix is

Wherein:for the measurement of the i-th sensor,

then there is

Wherein

Step three: and selecting an angular momentum exchange device control law which can meet the power requirements of other subsystems and realize flexible structure vibration suppression at the same time according to the selected working mode of the angular momentum exchange device, namely realizing the flexible structure vibration energy integrated control based on the distributed angular momentum.

The working modes of the angular momentum exchange device comprise the following three modes:

the first method is as follows: "variable speed control moment gyro" mode: the angular momentum exchange device is a variable speed control moment gyro which mainly comprises a flywheel rotating at a high speed and a frame outputting moment. The system works in a mode of 'variable speed control moment gyro', fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device to store or release energy by selecting an acceleration law of the flywheel, and meets the power requirements of other subsystems by storing or releasing the energy of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure, namely, the energy storage system and the vibration suppression system are integrated into a system by simultaneously selecting the acceleration law of the flywheel and the manipulation law of the frame shaft, so that the flexible structure vibration energy integrated control based on the distributed angular momentum is realized.

The specific implementation method comprises the following steps: the energy is stored or released by fully utilizing the flywheel rotating at high speed in the angular momentum exchange device through selecting the acceleration law of the flywheel, and the power requirements of other subsystems are met through the energy storage or release of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure.

Step 3.1.1: based on a projection matrix method, a flywheel acceleration law is selected as

Wherein: p_dPower requirements for other subsystems;

wherein I_nIs an n × n identity matrix;S₁S₁＝S₁，

that is, the selected flywheel acceleration laws can only output power to meet the system power demand, without applying modal forces to the structure.

Step 3.1.2: selecting the frame axis manipulation law as

Wherein: feedback parameter k_d＝diag[k_d1,...,k_dn]，k_di>0。

The second method comprises the following steps: "momentum wheel" mode: the angular momentum exchange device is a control moment gyro, a momentum wheel or various configurations derived from a variable speed control moment gyro and the momentum wheel. The angular momentum exchange device works in a 'momentum wheel' mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is in a column matrix form, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of a flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that an energy storage system and a vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

The second specific implementation method comprises the following steps: the method comprises the steps of selecting an acceleration law of a flywheel based on a projection matrix method, wherein the acceleration law of the flywheel is in a column matrix form, dividing the acceleration law of the flywheel into two parts which are orthogonal to each other, wherein one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, and the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of a flexible structure.

Step 3.2: based on a projection matrix method, a flywheel acceleration law is selected as

Wherein:

wherein: t is_cObtaining the expected vibration suppression modal force through negative feedback of a sensor measured value; s₁Is N (B)_Ω) Of the projection matrix, thus S₁u₁At B_ΩIn the null space of (1), i.e. S₁u₁Modal force cannot be generated; p_fThe flywheel power due to the vibration suppression requirement, i.e. the stored energy power, excluding the vibration suppression power, is subtracted from the total flywheel power.

The third method comprises the following steps: the combined mode of the control moment gyro and the momentum wheel is as follows: the angular momentum exchange device is a control moment gyro, a momentum wheel or various configurations derived from a variable speed control moment gyro and the momentum wheel. When the amplitude of the flexible structure is large, the variable-speed control moment gyroscope works in a 'control moment gyroscope' mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure, namely the flywheel acceleration law is selected based on the projection matrix method, so that the energy storage system and the vibration suppression system are integrated into a system, and the flexible structure vibration energy integrated control based on distributed angular momentum is realized.

The third concrete implementation method comprises the following steps: when the amplitude of the flexible structure is large, the variable-speed control moment gyroscope works in a 'control moment gyroscope' mode, and vibration suppression is quickly realized by selecting a frame shaft steering law to output large moment; when the flexible structure does not vibrate or the amplitude is small, the variable-speed control moment gyroscope works in a momentum wheel mode, a flywheel acceleration law is selected based on a projection matrix method, the flywheel acceleration law is divided into two parts which are orthogonal to each other, one part is used for storing energy or releasing energy to meet the power requirements of other subsystems, and the other part is used for outputting vibration suppression modal force to meet the vibration suppression requirements of the flexible structure.

Step 3.3.1: when the amplitude of the flexible structure is large, the variable-speed control moment gyro works in a 'control moment gyro' mode, and the frame axis manipulation law is selected as

Wherein: feedback parameter k_δ＝diag[k_δ1,...,k_δn]，k_δi>0。

Step 3.3.2: when the flexible structure does not vibrate or the amplitude is small, the variable speed control moment gyroscope works in a momentum wheel mode, and based on a projection matrix method, a flywheel acceleration law is selected as

Wherein:

has the advantages that:

1. the invention discloses a flexible structure vibration energy integrated control method based on distributed angular momentum, which fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device, utilizes the flywheel to store energy, and enables an energy storage system and a vibration suppression system to be integrated into a system, and when a flexible structure vibrates, the control system can actively suppress the vibration; when the flexible structure does not vibrate or the amplitude is small, the control system can absorb or release energy while keeping the structure well damped; when the power supply of other subsystems is over demand, the control system can absorb the redundant energy of other subsystems, and when the power supply of other subsystems is short demand, the control system can release the energy to supplement the requirements of other subsystems.

2. According to the distributed angular momentum-based flexible structure vibration energy integrated control method disclosed by the invention, the weight of an energy storage system can be reduced through the improvement, so that the influence of a distributed angular momentum exchange device on the mass and inertia of the whole system is reduced.

3. The distributed angular momentum-based flexible structure vibration energy integrated control method is suitable for flexible spacecrafts in any shapes, has larger expanded space, and can be applied to space structures with more complicated shapes, wherein the complicated space structures comprise flexible structures such as parabolic antennas, large aircrafts and large mechanical devices, and the energy storage capacity of the system is enhanced while the structural vibration is inhibited and the overall control precision of the system is improved.

4. The invention discloses a distributed angular momentum-based flexible structure vibration energy integrated control method, which is characterized in that an angular momentum exchange device working mode is selected according to the angular momentum exchange device, the angular momentum exchange device working mode comprises a variable speed control moment gyro mode, a momentum wheel mode and a control moment gyro and momentum wheel combined mode, and an angular momentum exchange device control law which can meet the power requirements of other subsystems and realize flexible structure vibration suppression is selected according to the angular momentum exchange device, namely the flexible structure vibration energy integrated control based on the distributed angular momentum is realized.

5. On the basis of the distributed angular momentum-based flexible structure vibration energy integrated control method, the invention also discloses a distributed variable speed control moment gyro-based constrained boundary gyro flexible structure vibration energy integrated control method for a constrained boundary gyro flexible structure, so as to realize the integrated control of the constrained boundary gyro flexible structure vibration energy based on the distributed variable speed control moment gyro.

Drawings

Fig. 1 is a working principle diagram of the distributed angular momentum-based flexible structure vibration energy integrated control method disclosed by the invention.

Fig. 2 is a schematic diagram of a mode of "variable speed control moment gyro".

FIG. 3 is a schematic diagram of the "momentum wheel" mode.

Fig. 4 is a schematic diagram of a combined mode of 'control moment gyro & momentum wheel'.

Fig. 5 is a schematic structural diagram of a constraint boundary gyroscope flexible truss in the embodiment.

Fig. 6 is a variation curve of the modal coordinates of the truss in the present embodiment.

Fig. 7 is a variation curve of the frame angle of the speed control moment gyro in the present embodiment.

Fig. 8 is a variation curve of the angular velocity of the gyro frame of the speed control moment in the present embodiment.

Fig. 9 is a variation curve of the rotation speed of the gyro rotor for the speed control moment in the present embodiment.

Fig. 10 is a power variation curve in the present embodiment.

Fig. 11 is a deformation curve of the truss end in the present embodiment.

Detailed Description

As shown in fig. 1, the flexible structure vibration energy integrated control method based on distributed angular momentum disclosed in this embodiment can be applied to any flexible structure with distributed control. To better illustrate the objects and advantages of the present invention, the following description will be made in detail with reference to the accompanying drawings by taking the vibration energy integrated control of a constrained boundary flexible truss structure carrying 8 variable speed control moment gyros as an example.

The method comprises the following steps: 8 identical angular momentum exchange devices are installed on the constraint boundary gyroscope flexible truss in a distributed mode, and 8 angular velocimeters are installed in a co-location mode.

A constrained boundary gyroscopic flexible truss as shown in figure 5 was designed. The length of the truss is 10m, and the cross section dimension is 500 mm multiplied by 300 mm. When the variable speed control moment gyroscope is not mounted, the fundamental frequency of the truss is 1.824Hz, and the first four-order mode of the truss is selected to describe the vibration of the truss. And a variable speed control moment gyroscope is arranged every 0.5m from the end part of the truss to the inside, and an angular speed sensor is arranged on the mounting position of each variable speed control moment gyroscope in a co-location mode. Variable speed control moment gyro weight m_g1kg, the flywheel and rotor moments of inertia are J_g＝diag[3,5,3]×10-⁵kg·m²And J_r＝diag[3,16,3]×10-⁵kg·m². The frame angular rate of the variable speed control moment gyro can work at +/-0.001 toIn the range of 1 rad/s. The mounting matrix of the 8 variable speed control moment gyros is shown in table 1.

TABLE 1 variable speed control moment gyro mounting matrix

Step two: and establishing a vibration equation, a power equation and a measurement matrix of the constraint boundary gyroscope flexible truss.

Step 2.1: and establishing a vibration equation of the flexible truss of the constraint boundary gyroscope.

Establishing a constraint boundary gyroscope flexible structure vibration equation as

Wherein:

is the modal coordinate of the flexible truss; e_aRepresenting a modal mass matrix of a flexible truss with a variable speed control moment gyro; d_bAnd Λ_bRespectively representing a rigidity matrix and a damping matrix; g is a gyro coupling matrix;

the generalized modal force generated by the acceleration of the rotor of 8 variable-speed control moment gyros is characterized, wherein omega is [ omega ]₁,...,Ω₈]^T；

Is a generalized modal force generated by the rotation of a frame shaft of 8 variable-speed control moment gyros,

wherein the content of the first and second substances,

wherein the content of the first and second substances,

and

respectively a translation modal vector and a rotation modal vector of a mass infinitesimal dm on the truss;A_b,gigyro frame axis coordinate system f for ith variable speed control moment_giTo the flexible truss body coordinate system f_bThe coordinate transformation matrix of (a) is,

and

is A_b,giThe column submatrix of (1);

and

is that

The term (2) is used in (1),

and

is R_giThe row submatrix. The frame shaft moves by a small amount

Wherein:

the superscript "0" in (A) represents

Is equal to

The value at the initial instant.

Step 2.2: and establishing a power equation of the constraint boundary gyroscope flexible truss.

The energy storage and discharge power of the flexible truss of the constraint boundary gyroscope is

Wherein

Step 2.3: and establishing a measurement matrix of the constraint boundary gyroscope flexible truss.

The measuring direction of each angular velocity sensor is consistent with the torque direction generated when the variable speed control moment gyro works in the 'control moment gyro' mode at the initial time, and the measuring matrix is

Wherein:for the measurement of the i-th sensor,

then there is

Wherein

Step three: and selecting an angular momentum exchange device control law which can meet the power requirements of other subsystems and realize flexible truss vibration suppression at the same time according to the selected working mode of the angular momentum exchange device, namely realizing the flexible truss vibration energy integrated control based on the distributed angular momentum.

In the embodiment, the variable speed control moment gyro is installed on the flexible truss, so that the mode of the variable speed control moment gyro is selected as the working mode of the flexible truss. The system works in a mode of 'variable speed control moment gyro', fully utilizes a flywheel rotating at a high speed in an angular momentum exchange device to store or release energy by selecting an acceleration law of the flywheel, and meets the power requirements of other subsystems by storing or releasing the energy of the flywheel; meanwhile, the frame shaft outputs vibration suppression modal force by selecting the manipulation law of the frame shaft so as to meet the vibration suppression requirement of the flexible structure, namely, the energy storage system and the vibration suppression system are integrated into a system by simultaneously selecting the acceleration law of the flywheel and the manipulation law of the frame shaft, so that the flexible structure vibration energy integrated control based on the distributed angular momentum is realized.