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针对一种复杂的、较难建立精确模型的空间桁架,研究了其建模、主动杆位置优化及振动控制的问题。文中首先建立了空间桁架的机理模型。然后设计了压电主动杆,选取一种不依赖于控制律的基于能量的优化准则,并基于所建立的模型对其在空间桁架中的安装位置进行了优化。最后对于空间桁架这种并联结构,设计了一种不依赖于被控对象精确模型的自抗扰控制器。仿真算例表明本文所设计方法的有效性。
Aiming at a complicated space truss which is difficult to build an accurate model, the problems of modeling, position optimization of active rod and vibration control are studied. The paper first established the mechanism model of space truss. Then, a piezoelectric active rod was designed. An energy-based optimization criterion that is independent of the control law was chosen. Based on the established model, its position in the space truss was optimized. Finally, for the parallel structure of space trusses, an automatic disturbance rejection controller that does not depend on the exact model of the controlled object is designed. Simulation examples show the effectiveness of the proposed method.