中文摘要：

空间柔性机器人和航天器挠性附件在转动调姿时或者外部扰动带来的振动问题，尤其是在平衡点小幅值的模态频率上的振动很难控制，这将影响系统的稳定性和指向精度。为解决该问题，提出一种基于加速度传感器信号反馈的非线性控制算法，在理论上分析其稳定性和优越性。由于加速度传感器和压电驱动器或电动机的异位配置带来的相位滞后导致控制系统为非最小相位系统，在提出的加速度反馈控制算法中通过移相技术进行补偿相位滞后，并结合低通滤波器和正位反馈控制以及非线性逻辑积分阻尼器对系统的振动进行快速抑制，尤其抑制平衡点附近小幅值振动。设计并建立压电挠性智能结构试验平台，利用加速度传感器、压电片和交流伺服电动机驱动器抑制挠性结构振动，对提出的控制方法进行试验比较研究。试验结果表明，采用提出控制方法能够快速地抑制系统的振动，尤其能够快速抑制平衡点小幅值的振动。

英文摘要：

The vibration problem of space robot and flexible appendages of spacecraft will be unavoidable when they are slewing or external disturbance happens. Especially the lower amplitude vibration near the equilibrium point is hard to be suppressed, which will affect the stability and the pointing accuracy of the system. To solve this problem, a kind of acceleration sensor based feedback non-linear control algorithm is proposed, and the stability and advantages are analyzed theoretically. The control system is non-minimum phase system due to the phase lag caused by non-collocated placement of acceleration sensor and piezoelectric actuator or AC servo-motor. Thus phase shifting method for compensating the phase lag is applied. The proposed nonlinear control algorithm is used to damp out the vibration quickly, especially for the low amplitude vibration around the equilibrium point. This process is achieved by combing acceleration signal phase shifting low-pass filter proportional feedback with positive position feedback and nonlinear logic integral damping control. The experimental setup of piezoelectric smart structure is designed and built up. Acceleration sensor, piezoelectric patches and AC servomotor actuator are used to attenuate the vibrations, and several control methods are used to develop the experimental comparison researches. The experimental results demonstrate that the presented methods can suppress the vibration quickly, especially for the lower amplitude vibration near the equilibrium point.