质心重构精密姿控动量轮的空间机电耦联建模与振动控制

Derived from the need of high accuracy of spacecraft attitude control and multi-task of space manipulation, a novel linear-rotary 2-DOF momentum flywheel with the function of adjusting the mass center is proposed in this project based on mass center reconstruction. The coupling mechanisms among the electromagnetic field, strain field, temperature field and motion parameters are studied to adapt to the extreme space environment. Then, the mechanico-electro-magneto coupling dynamic model of the flywheel is constructed, and the related vibration characteristic is analyzed. At last, time-delayed omnidirectional control method with active-passive collaboration is developed based on the refined model of dual dampers. Its scientific value is that through this novel mechanism and its improved function, (1) collaborative attitude control between space attitude controlling mechanism and the spacecraft system is realized; (2) collaborative integration of refined modeling, computation and optimization design is realized given extreme space environment; (3) active collaborative technology is realized to adapt to the vibration control strategy of the spacecraft system. Thus, it is expected that the bottleneck of improving the attitude controlling accuracy of spacecraft is broken up, and the systematic collaboration of the spacecraft attitude control strategy is realized, as well as its adaption to the space environment.

本项目从航天器高精度控制和空间操纵任务多样化的发展趋势出发，基于质心重构的思路，提出了一种全新的能够调整质心位置的直线-旋转双自由度动量轮。面向空间极端环境，研究其电磁场、应变场、温度场和运动量的相互耦合机理；进行动量轮动子机、电、磁耦合动力学精细建模与振动分析；基于双阻尼器的精细模型，研究动量轮主、被动协同的时滞全向振动控制方法。其科学价值在于：通过空间姿控机构的全新构型及其模型研究，解决（1）空间姿控机构与航天器系统主动融合的姿态协同控制；（2）面向空间极端环境的新型空间姿控机构多物理场条件下的精细建模、计算与优化设计的协同集成；（3）空间姿控机构适应于航天器系统振动控制的主动协调三大关键问题。最终，通过动量轮全新构型的研究和探索，突破目前航天器姿轨控制精度提升的瓶颈，实现航天器姿轨控制策略的系统融合性和面向空间环境的适应性。

本项目从航天器高精度控制和空间操纵任务多样化的实际迫切需要出发，基于质心重构的思路，提出了一种全新的能够调整质心位置的直线-旋转双自由度动量轮。其中，旋转运动实现角动量的交换，直线运动则可以根据需要将动子调整至适当位置，以最小化干扰力臂，达到减弱甚至完全消除干扰力矩的作用。.为此，项目面向双自由度电磁驱动的建模、分析和计算，首先建立考虑多因素的旋转驱动单元的精确模型，准确描述齿槽对气隙磁场分布的影响，准确表达磁极和铁极磁导不一致引起的磁场分布变化；其次，建立考虑边端效应的直线绕组电磁模型，对其端部磁场的不均匀性给出准确描述，通过所提出的“同源”互感和“异源”互感的概念，以解析的方式明确表达了端部效应对电磁驱动和机构运动的耦合影响；然后，基于不均匀电感矩阵的解耦分析和正弦感应电动势的验证，引入零阶近似耦合模型，构建了实时解耦控制方法；最后，结合Schwarz-Christoffel变换和微分求积法，准确、高效地计算出阻尼器极间气隙区域及其端部的磁场分布。.通过以上电磁驱动精细建模和构型设计，可以在交换角动量的同时，以“重构”质心位置的方式，克服干扰力矩的影响。基于此空间姿控机构构型的全新设计和功能提升，可以自主实现空间姿控机构与航天器系统的姿态融合和协同控制，突破目前航天器姿轨控制精度提升的瓶颈。因此，本项目动量轮构型的全新性、功能的多样性和系统的融合性，符合航天器姿轨控制的发展趋势，对航天器高精度、长寿命可靠运行和任务多样性的实现也具有很强的现实工程意义。