68845.大型球載望遠(yuǎn)鏡高精度姿態(tài)控制及指向技術(shù)研究

1、摘要‘球載太陽(yáng)望遠(yuǎn)鏡總重達(dá)1500kg吊籃體積為3.5mX2.5mX5.5m(長(zhǎng)X寬X高)，其在餡垂線方向上轉(zhuǎn)動(dòng)慣量達(dá)1600kg.m。對(duì)這樣一個(gè)復(fù)雜而龐大的球載吊籃進(jìn)行高精度姿態(tài)控制研究，以實(shí)現(xiàn)高分辨率的太陽(yáng)觀測(cè)，具有極大的挑戰(zhàn)性和突破性的意義久_仁、本論文的第一部分，根據(jù)高空氣球飛行的特性，探討了BST的姿控設(shè)計(jì)。包括從BSTV蔥控制的系統(tǒng)設(shè)計(jì)到各個(gè)部件的具體設(shè)計(jì)從理論分析和原理方案設(shè)計(jì)到具體的上程技術(shù)實(shí)現(xiàn)設(shè)計(jì)，并且給出了理想的實(shí)測(cè)

2、調(diào)試結(jié)果。第二部分討論了BST望遠(yuǎn)鏡的指向控制技術(shù)。(IM過(guò)幾年來(lái)對(duì)該課題系統(tǒng)的全面的研究，我們?nèi)〉靡韵轮饕Y(jié)果和結(jié)淪必I主要結(jié)果有:1.成功地研制和開(kāi)發(fā)了角動(dòng)量達(dá)51N.m.s的雙子型CMG，其非常適合于大型球載的姿態(tài)控制，為BST吊籃實(shí)現(xiàn)高精度姿控打下了基礎(chǔ)。2.開(kāi)發(fā)了抗拉強(qiáng)度達(dá)16噸、吊繩控制扭矩接近0.033N.m(相對(duì)于軸承摩擦力矩0.72N.m)用于BST姿控的反捻器，為整個(gè)BST姿控的全面構(gòu)成提供了前提條件。3.設(shè)計(jì)和建立

3、了BST姿態(tài)控制的整個(gè)系統(tǒng)，并從工程技術(shù)上實(shí)現(xiàn)了這樣一個(gè)系統(tǒng)。包括機(jī)械設(shè)計(jì)和電控設(shè)計(jì)，硬件設(shè)計(jì)和軟件設(shè)計(jì)，以及系統(tǒng)集成設(shè)計(jì)。結(jié)合反捻器控制技術(shù)，實(shí)時(shí)的進(jìn)行CMG的卸荷控制，對(duì)BST吊籃實(shí)現(xiàn)了無(wú)間斷的連續(xù)控制。4.對(duì)BST吊籃取得了優(yōu)于1角分(R.M.S)的姿態(tài)控制精度。而接近或達(dá)到1角分的控制精度在世界大型球載姿控技術(shù)中未見(jiàn)有報(bào)道。5.建立了BST望遠(yuǎn)鏡在吊籃中指向控制的數(shù)學(xué)模型。為BST望遠(yuǎn)鏡克服吊籃在水平面內(nèi)擺動(dòng)的影響提出了控制回路

4、的補(bǔ)償函數(shù)的設(shè)計(jì)方法。并給出了利用這些設(shè)計(jì)結(jié)果，應(yīng)用于BST工程中，取得了接近加角秒的指向控制精度的初步4士田陽(yáng)不。產(chǎn)f一人AbstractTheBalloonborneSolarTelescope(BST)hasatotalweightofabout1500kgandavolumeof3.5mx2.5mx5.5m(LxWxH).TheBSTinertiaintheplumblineisupto1600kg.MZ.Performingh

5、ighaccuracyattitudecontroloversuchacomplexandlargeballoonbornegondolatoachievehighresolutionsolarobservationisofgreatchallengeandsignificance.InthefirstpartofthisdissertationwediscussthedesignoftheBSTattitudecontrolinclu

6、dingtheoveralldesignforthesystemandspecificdesignofeachpartofthesystemalsoincludingtheoreticanalysisschemedesignandtechnologicalimplementation.AttheendofthispartweintroducethetestmethodofimplementationoftheBSTattitudecon

7、trolandpresentatestresult.InthesecondpartofthisthesiswediscusstheBSTpointingcontroltechnology.Afterseveralyearsofstudyingonthistaskthemainresultsandconclusionsareobtainedasfollows:1.Themotionfeaturesofaballoonbornescient

8、ificobservingsystematahighaltitudeareforeseeablebyphysicalanalyzingandactualexperimentobserving.FortheBSTinafreeflightstateatahighaltitudetherotationofthegondolaandballoonis0.01一0.1rpmtheswaycycleofthatisabout6and20secon

9、dsinarangeoflessthan10arcminutesandthecycleofverticalmotionisabout5minuteswithinarangeof100meter.2.ItisabetterchoicetoutilizeaCMGwithlargeangularmomentumasthetorqueactuator.CMGpossessesmanyadvantagessuchaslargeoutputtorq

10、uesmallsizelightweightandbettercontrolperformance.ItisverysuitableforaballoonbornesystemliketheBSTwhichhavelargeinertiaheavyweightandhighaccuracyrequirement.3.Asthedecouplingdeviceofropetwisttorqueandunloadingdeviceofthe

11、CMqadecouplingMechanism(DM)withhighsensitivityofropetorquedetectionandlargepullstrengthisanecessarycomponentandanimportantpartoftheBSTattitudecontrolsystem.4.Asthebreakthroughofthekeytechnologyfortherealizationofhighaccu

12、racyattitudecontroloftheBSTgondolaatwinCMGwith51N.M.SangularmomentumhasbeendevelopedandissuccessfullyqualifiedfortheBSTmissionrequirements.TheconsiderationoftheCMGparametersselectionisthebasisoftheCMGmechanicaldesign.The

13、testoftheCMGandDMworkingperformancesonlowtemperatureandlowpressureallowsthemappropriatefortheenvironmentofhighaltitude.5.“fheproperorganiccombinationoftheCMGcontrolloopandDMcontrolloopisthekeyoftheoverallformingoftheBSTg