摘要：在载人空间站对日定向系统中，稳定和衰减太阳翼及其关节的低频挠性振动是一个难点问题。为了实现振动抑制的目的，本文在位置环、速度环和电流环的三闭环控制器的基础上，引入和设计了输入整形器。该输入整形器串联多个两脉冲序列的整形器，来逼近多脉冲序列的整形器，从而进一步优化振动抑制性能。最后，基于MATLAB/Simulink搭建对日定向控制系统的仿真平台，以验证算法的振动抑制性能。仿真实验结果显示：设计的输入整形器可以使系统达到比较满意的动态和稳态性能，实现大型挠性机构振动抑制。

关键词：伺服系统；低频挠性振动；振动抑制；伺服控制器；输入整形器

Abstract: The low-frequency flexible vibration of the solar wing is the major problem and obstacle in the sun tracking system of the manned space station. In order to achieve the vibration suppression, a command shaping method was introduced and designed in this paper based on the dual-loop controller. This command shaping technology adopted several cascaded basic shaper to further optimize the suppression performance. Each basic shaper was made up of two pulses. Finally, a simulation platform for the sun tracking system was built to verify the suppression performance of the proposed algorithm. And the simulation results show that the designed command shaper can achieve good performance dynamic-state and steady-state, and realize the vibration suppression for the large flexible mechanism.

Key words: servo system; low-frequency flexible vibration; vibration suppression; servo controller; command shaping