Research Of Decoupling And Control Based On Multi-axis Satellite Antenna Tracking Platform System

With the development of the society,multiaxial satellite antenna tracking platform played a very important role in all directions.It also had now been applied in military and civil products.With the continuous development of national defense science and technology,the requirements of the inertial devices' precision was becoming more important,meantime the demand for the platform was also more severe.This paper will take the carrier-based satellite antenna tracking platform as the research subject,we create the modeling of the three frameworks platform,analyzed of tracking platform between shaft coupling problems,this paper also derived the decoupling control algorithm and control law,with the simulation software Matlab to validate and evaluate.First of all,the chapter introduced the background of the tracking platform,among them,this paper introduced the present situation of decoupling control method in domestic and foreign.Then,to meet the needs of this thesis research,this paper carried the meaning of decoupling control and briefly clarified in all aspects of the application.Secondly,this paper has carried the motor system of the tracking platform,deduced the simplified model of the motor.According to the motor model and the work of the platform,using dynamic euler equation is deduced the dynamics equations of the tracking platform,and multiple axis platform system is the synthetic equation of state.Later according to the model,it derived the center of the gravity and the size of the gravity of the tracking platform.Through the simulation verify the accuracy of the model,and the designed identification method can be applied.Then,according to the results of the dynamic modeling,this paper create several kinds of decoupling control algorithm of the multi-axis tracking platform system.The first decoupling control method is based on the theory of inverse system with the theory of dynamics of Largange equation.The next method is directly by using the principle of nonlinear feedback,in order to make the system realize the request of decoupling,this paper use the method of nonlinear feedback.At last this paper puts forward the improved decoupling method based on lyapunov function,the design for the angular velocity tends to be constant,this method which allow the angular acceleration becomes zero decoupling is widely used in engineering practice.Through the simulation confirms the design accuracy of decoupling control method.Finally,this paper introduced the system stability margin of several common methods in multivariable system,and combining the dynamic model of decoupling control method,it created a method which according minimum singular value of return deference matrix for the multivariable system.Through the analysis of the comparison of stability margin and concluded to come to that the essence of the design decoupling control method.