| Oil and gas pipeline leakage monitoring has been an urgent problem.People dream of looking for a more comprehensive way to solve this problem.With the continuous improvement of science and technology,the use of satellites for oil pipeline monitoring can become a reality.Payloads loaded on satellites can transmit useful information to data centers in a short time.But the satellite will be affected by various disturbances during the operation and these disturbances will make the payload not work normally.Using Stewart platform to isolate the payload,the micro vibration generated by the interference source can't be transmitted to the payload to ensure that the payload is working properly.In this paper,based on the satellite monitoring of oil pipeline leakage and the micro satellite data of our satellite measurement and control laboratory,the parameter design and method for pipeline monitoring satellite are calculated.The Stewart isolation platform is taken as the research object to analyze the kinematics and dynamics of the leg,and the binding between the upper platform and the hinge is obtained.The Newton Euler method is used to establish the dynamics model of the platform,and a giant magnetostrictive actuator is applied to control the whole model.The definition and properties of sliding mode variable structure control are described,and chattering will be caused in the process of movement and the reaching law method is used to design the sliding mode variable structure controller for active vibration control of the vibration isolation system.Then,the whole system is simulated by numerical algorithm,the time domain diagram of the position and attitude of the platform,the switching function and the change curve of the designed control function with time are obtained.The validity of the model to the isolation of the payload is guaranteed,and the designed control function is obtained by MATLAB.The validity of the model to the isolation of the payload is guaranteed. |
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