磁悬浮力矩陀螺内外框架低速高精度控制技术研究
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摘要
建立了双框架磁悬浮力矩陀螺(DGMSCMG)内外框架伺服系统耦合动力学模型,并针对未知扰动影响的非线性不确定系统,用基于扩张状态观测器(ESO)的扰动力矩估计器获取补偿力矩,在常规的比例积分微分(PID)控制器中通过前馈方式对内外框架进行前馈力矩补偿。仿真结果表明:干扰补偿控制能有效抑制航天器及框架对磁悬浮转子的耦合干扰,并提高了磁悬浮转子系统的稳定性。
The coupling dynamics modeling for double gimbal magnetically suspended control moment gyroscope of inside and outside gimbal servo system was established in this paper.Aim to the nonlinear system under uncertain disturbance,the compensate moment estimate was obtained based on expand state observation and it was used as the forward moment compensate for inside and outside gimbal by routine PID controller.The simulation results for forward moment compensate of inside gimbal showed that the disturb compensate control could restrain the coupling disturb between spaceflight and magnetically suspended rotor in effect and also improve the system stability of magnetically suspended rotor system.
The coupling dynamics modeling for double gimbal magnetically suspended control moment gyroscope of inside and outside gimbal servo system was established in this paper.Aim to the nonlinear system under uncertain disturbance,the compensate moment estimate was obtained based on expand state observation and it was used as the forward moment compensate for inside and outside gimbal by routine PID controller.The simulation results for forward moment compensate of inside gimbal showed that the disturb compensate control could restrain the coupling disturb between spaceflight and magnetically suspended rotor in effect and also improve the system stability of magnetically suspended rotor system.
引文
[1]王磊,赵育善,李云.平行构型双框架控制力矩陀螺操纵律研究[J].宇航学报,2009,30(4):1551-1563.
[2]徐向波,房建成.基于角加速度的陀螺框架伺服系统干扰观测器[J].北京航空航天大学学报,2009,35(6):669-672.
[3]杨倩,崔培玲,韩邦成,等.航天器机动时DGMSCMG磁悬浮转子干扰补偿控制[J].宇航学报,2012,33(6):720-727.
[4]于灵慧,房建成.磁悬浮控制力矩陀螺框架伺服系统扰动力矩分析与抑制[J].宇航学报,2007,28(2):287-291.
[5]李建文,刘刚,李红.磁悬浮控制力矩陀螺框架伺服系统前馈补偿模糊控制方法[J].微电机,2009,42(5):35-42.
[6]杨倩,崔培玲,韩邦,等.航天器机动时DGMSCMG磁悬浮转子干扰补偿控制[J].宇航学报,2012,33(6):720-727.
[7]FUTAMI S,KYURA N,HARA S.Vibration absorption control of industrial robots by acceleration feedback[J].IEEE Transactions on Industrial Electronics,1983,IE-30(3):299-305.
[8]VUKOSOVIC S N,STOJIC M R.Suppression of torsional oscillations in a high performance speed servo drive[J].IEEE Transactions on Industrial Electronics,1998,45(1):108-117.
[9]ELLIS G,LORENZ R D.Resonant load control methods for industrial servo drives[C]∥Proceedings of the IEEE Industry Application Society Annual Meeting.[s.l.]:IEEE,2000,3(2):1438-1445.
[10]SUGIURA K.HORI Y.Vibration suppression in 2and3mass system based on the feedback of imperfect derivative of the estimated torsional torque[J].IEEE Transactions on Industrial Electronics,1996,43(1):56-64.
[11]李海涛,房建成.基于扩张状态观测器的DGMSCMG框架伺服系统振动抑制方法[J].航空学报,2010,31(6):1213-1219.
[2]徐向波,房建成.基于角加速度的陀螺框架伺服系统干扰观测器[J].北京航空航天大学学报,2009,35(6):669-672.
[3]杨倩,崔培玲,韩邦成,等.航天器机动时DGMSCMG磁悬浮转子干扰补偿控制[J].宇航学报,2012,33(6):720-727.
[4]于灵慧,房建成.磁悬浮控制力矩陀螺框架伺服系统扰动力矩分析与抑制[J].宇航学报,2007,28(2):287-291.
[5]李建文,刘刚,李红.磁悬浮控制力矩陀螺框架伺服系统前馈补偿模糊控制方法[J].微电机,2009,42(5):35-42.
[6]杨倩,崔培玲,韩邦,等.航天器机动时DGMSCMG磁悬浮转子干扰补偿控制[J].宇航学报,2012,33(6):720-727.
[7]FUTAMI S,KYURA N,HARA S.Vibration absorption control of industrial robots by acceleration feedback[J].IEEE Transactions on Industrial Electronics,1983,IE-30(3):299-305.
[8]VUKOSOVIC S N,STOJIC M R.Suppression of torsional oscillations in a high performance speed servo drive[J].IEEE Transactions on Industrial Electronics,1998,45(1):108-117.
[9]ELLIS G,LORENZ R D.Resonant load control methods for industrial servo drives[C]∥Proceedings of the IEEE Industry Application Society Annual Meeting.[s.l.]:IEEE,2000,3(2):1438-1445.
[10]SUGIURA K.HORI Y.Vibration suppression in 2and3mass system based on the feedback of imperfect derivative of the estimated torsional torque[J].IEEE Transactions on Industrial Electronics,1996,43(1):56-64.
[11]李海涛,房建成.基于扩张状态观测器的DGMSCMG框架伺服系统振动抑制方法[J].航空学报,2010,31(6):1213-1219.