中文摘要：

针对航天器是一种通过柔性关节连接浮动中心刚体和挠性附件（如卫星太阳帆板，空间机器人等）组成的刚柔耦合复杂系统，在调姿或者外部扰动带来振动时，将影响系统的稳定度和指向精度，基于模态理论，建立包括柔性关节和柔性链的刚柔耦合结构动力学模型并写成状态空间表达形式，且分析系统的能控性。提出采用复合正位反馈（Positive position feedback，PPF）和比例微分（Proportional derivative，PD）控制律抑制柔性结构振动，在理论上分析其稳定性和控制性能。设计并建立刚柔耦合结构试验平台，进行包括位置设定点及转动振动主动控制研究。试验比较研究结果验证提出方案能够快速地抑制振动。

英文摘要：

Spacecraft is a kind of complex coupling rigid and flexible system composed of free fly center rigid body connected with flexible appendages （such as sun plate, space robots etc.） by flexible joint, the problem of vibration will be caused when slewing or external disturbance excitation, which will affect the stability and the pointing accuracy of the system. Based on modal theory, the dynamics model of the coupling rigid and flexible structure including flexible link and flexible joint is built up and written in state space form, and controllability is analyzed. The combining PPF （Positive position feedback） and PD （Proportional dervative） control law is presented to suppress the vibration of the flexible structure, and the stability and control performance are analyzed theoretically. The experimental setup of the coupling rigid and flexible structure is designed and built up, and the active vibration control researches are developed including set point vibration control and slewing vibration control. The experimental comparative research results verify that the presented methods can suppress the vibration quickly.