Presents the new independentmodal - space variable structure control for flexible structures with distributed parameter model , which is decoupled into a number of 2 - dimensional subsystems in terms of coordination transmission where , the variable structure control law is designed within the given boundary of structural uncertainty and disturbance , and concludes from simulation results that the algorithm is not only simple so as to accomplish in real time , but also is very robust 对具有分布参数模型的挠性结构提出了模态空间变结构控制方案，利用坐标变换把整个系统分为若干个独立的二维模态子空间.在每个独立的模态子空间内，在给定参数不确定性范围和干扰力矩范围的情况下，设计变结构控制控制器.通过仿真验证了控制算法的有效性;控制算法简单，易于实时完成，又具有较好的鲁棒性
Simulation result indicated that predictive filter of the dynamics model may be followed the attitude movement , if disturbance moment is time variable and large relative to gradient moment of gravity , and predictive filter based kinematics is suitable if there is no information about dynamics 在有较大时变干扰力矩情况下基于动力学模型的预测滤波算法能够很好地跟踪姿态变化，而在对系统模型一无所知，系统动态不高的条件下利用基于运动学的预测滤波算法可以得到较好的姿态估计。
Firstly , under the assumption that the output driving torque generated by the stepper motor of the mirror is constant , such influence analysis is conducted . secondly , a mathematic model of the stepper motor is given . under the assumtion that the input impulse frequence is constant , the rotational motion of the stepper motor of the mirror with the mutual exertions of damping torque , friction torque and disturbance torque generated by satellite platform ' s attitude motion is simulated and analyzed 对卫星平台姿态振动对红外相机扫描机构转动的影响进行了系统深入的仿真分析:首先在步进电机驱动力矩一定条件下,仿真分析了星体姿态运动干扰力矩对红外相机扫描镜转动的影响;接着建立了步进电机的数学模型,在步进电机输入脉冲频率一定条件下,仿真分析了步进电机在阻尼力矩、干摩擦力矩、平台干扰力矩等负载转矩的共同作用下的转动情况。
With limited disturbances considered , sliding mode control is used to design the controller , which ensures the sliding mode to be exponentially converged and the sliding manifold to be reached in limited time from any initial states . and an adaptive law is designed for the unknown inertia matrix 使用鲁棒性较强的滑模控制方法设计了控制律：滑动模态是指数收敛的；在有界干扰力矩存在时，任意初始状态都可以在有限的时间内收敛到滑动平面；对于转动惯量未知的情形，设计了自适应律，趋近模态是渐近收敛的。
