基于ESO的DGVSCMG双框架伺服系统不匹配扰动抑制

doi:10.7527/S1000-6893.2017.21641

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基于ESO的DGVSCMG双框架伺服系统不匹配扰动抑制

李海涛^1,2, 林杰^1,2, 韩邦成^1,2

1. 北京航空航天大学仪器科学与光电工程学院, 北京 100083;
2. 北京航空航天大学新型惯性仪表与导航系统技术国防重点学科实验室, 北京 100083

收稿日期:2017-08-01 修回日期:2017-10-16 出版日期:2018-04-15 发布日期:2017-10-13
通讯作者: 李海涛,E-mail:haitaoli@buaa.edu.cn E-mail:haitaoli@buaa.edu.cn
基金资助:
国家自然科学基金（61573032，61773038）

Mismatched disturbance rejection of double gimbal servo system in variable speed control moment gyroscope using a novel ESO method

LI Haitao^1,2, LIN Jie^1,2, HAN Bangcheng^1,2

1. School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100083, China;
2. Laboratory of Fundamental Science on Novel Inertial Instrument and Navigation System Technology, Beihang University, Beijing 100083, China

Received:2017-08-01 Revised:2017-10-16 Online:2018-04-15 Published:2017-10-13
Supported by:
National Natural Science Foundation of China (61573032, 61773038)

摘要/Abstract

摘要： 针对双框架变速率控制力矩陀螺（DGVSCMG）两种工作模式下内、外框架系统存在的不匹配干扰抑制问题，提出一种基于扩张状态观测器与状态反馈的扰动抑制方法。在对飞轮工作模式和陀螺工作模式下内、外框架系统的干扰进行建模和分析的基础上，针对其不匹配干扰设计了扩张状态观测器，通过坐标变换减小框架系统扰动对不匹配通道的影响，并结合状态反馈控制设计了复合控制器，同时对全局系统稳定性进行了分析。对框架系统进行的仿真结果验证了所提复合控制方法的有效性。实验结果表明，所提出的控制方法能有效减小耦合力矩对内外框架角速率带来的影响，在飞轮模式下使得内外框架的角速率跳动量分别降低了85%和78%，且在陀螺模式下使外框架角速率跳动量降低了75%。

关键词: 双框架变速率控制力矩陀螺, 扩张状态观测器, 不匹配干扰抑制, 框架角速率伺服控制, 复合控制器

Abstract: To handle the mismatched disturbance affecting the accuracy of double-gimbal system angular speed control in both working conditions of the Double Gimbal Variable Speed Control Moment Gyroscope (DGVSCMG), a composite controller combining Extended State Observer (ESO) and state feedback control are proposed. Based on modeling and analyzing the mismatched disturbances of the gimbal system in both flywheel mode and CMG mode, a novel ESO method for estimating mismatched disturbances is designed, and a composite controller combining state feedback control is proposed with an appropriately chosen coordinate transformation to decrease the mismatched disturbance impact on the gimbal system. The stability of the overall system is also analyzed. The simulation results validate the effectiveness of the proposed control method. The experimental results show that the proposed controller can effectively reduce the influence of coupling moment on the inner and outer gimbal angular rates. The angular rate fluctuations of the inner and outer gimbals are reduced by 85% and 78% respectively in the flywheel mode, and the angular rate fluctuation of the outer gimbal decreases by 75% in the CMG mode.

Key words: double gimbal variable speed control moment gyroscope, extended state observer, mismatched disturbance rejection, gimbal angular rate servo control, composite controller

中图分类号:

V242.44

李海涛, 林杰, 韩邦成. 基于ESO的DGVSCMG双框架伺服系统不匹配扰动抑制[J]. 航空学报, 2018, 39(4): 421641-421641.

LI Haitao, LIN Jie, HAN Bangcheng. Mismatched disturbance rejection of double gimbal servo system in variable speed control moment gyroscope using a novel ESO method[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(4): 421641-421641.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于ESO的DGVSCMG双框架伺服系统不匹配扰动抑制

Mismatched disturbance rejection of double gimbal servo system in variable speed control moment gyroscope using a novel ESO method

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