强扰动欠驱动精密指向机构非线性动力学行为机理及其控制理论研究

Precision light beam pointing and stabilization mechanisms are widely used in many domains such as space optical communication, high resolution earth observation and reconnaissance and surveillance equipments on motion carriers. The key capabilities including stabilization precision and bandwidth of these mechanisms are remarkably limited by following factors: big friction load caused by dynamic seal, correspondingly lower motor drive torque caused by the limit of size and weight, frequent low speed reciprocation caused by gyro stabilization. Concerning on three typical precision transmission modes including direct-drive, compliant self-anti-backlash gear transmission and soft cable transmission, surrounding the scientific problem of friction nonlinear dynamic behavior evolution and intelligent control for precision pointing mechanisms with dynamic seal applied, the project emphasizes on the issues including prestiction frictional behavior mechanism, aging evolution characteristic of frictional parameter in the proposed friction model and Electro-Optic platform dynamic modeling method based on the prestiction LuGre friction model. The major target is to realize the micro-radian-rank stabilization control for precision pointing mechanisms used under complicated circumstances. The research achievements of the basic theory and critical technology will help to improve the performance for similar precision pointing mechanisms.

本项目以空间光通信、高分辨率对地观测和高机动载体侦察监视等领域大量装备中的精密光束指向与稳定机构为研究对象，针对制约其在由于动密封带来的大摩擦负载、尺寸重量严格限制带来的低电机驱动力矩、陀螺稳定带来的频繁低速往复运动等条件下实现高精度和高带宽的共性技术难题，以典型的电机直接驱动、精密柔顺自消隙齿轮传动和柔索传动三种精密传动方式为基础，围绕动密封条件下精密指向机构的含摩擦非线性动力学行为演化与智能控制这一科学问题，对新型精密传动机构中的预静止态摩擦行为机理、动密封条件下新摩擦模型参数时效演化特性以及含预静止LuGre模型的精密刚性/柔索/柔顺光电平台动力学建模等问题开展研究，实现复杂环境条件下的精密光束指向与稳定机构微弧度级稳像精度控制。研究成果可以为我国同类精密指向机构非线性动力学行为的精细刻画及其性能指标的进一步提升提供基础理论和关键技术支撑。

在空间光通信、高分辨率对地观测、高机动载体侦察监视和极端环境行走及操作系统的执行机构中，精密指向机构的作用不可替代。出于防尘、防水、防辐射等环境适应性的需要，其中的动/静接触表面必须采用可靠的动密封手段，由此带来了较大的非线性摩擦力矩干扰，极大的限制了精密指向机构功能的实现和性能的提高，造成设备功耗和故障率的增加。本项目针对精密指向机构中动密封形成的大摩擦负载、尺寸重量严格限制带来的低电机驱动力矩、陀螺稳定带来的频繁低速往复运动等特殊工作条件下，进一步提高速度和位置控制精度和响应带宽的迫切需要，项目针对几种采用典型精密传动的精密指向机构（力矩电机直驱型、柔顺谐波齿轮减速型、柔索减速型），围绕动密封条件下精密指向机构的含摩擦非线性动力学行为演化与智能控制这一科学问题，对新型精密指向机构中的非线性摩擦行为建模、观测、补偿等问题展开研究，将复杂环境条件下的精密指向与陀螺稳定机构的关键性能指标提升了一个数量级。研究成果可以为我国同类精密指向机构性能指标的提升提供技术支撑。