双框架MSCMG框架伺服系统的动力学解耦及扰动补偿

doi:10.7527/S1000-6893.2015.0163

电子与控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

双框架MSCMG框架伺服系统的动力学解耦及扰动补偿

崔培玲^1,2, 杨珊^1,2, 李海涛^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. 北京航空航天大学惯性技术国家级重点实验室, 北京 100083

收稿日期:2015-04-09 修回日期:2015-05-29 出版日期:2016-03-15 发布日期:2015-06-07
通讯作者: 崔培玲,Tel.:010-82339273,E-mail:peilingcui@buaa.edu.cn E-mail:peilingcui@buaa.edu.cn
作者简介:崔培玲,女,博士,副教授,硕士生导师。主要研究方向:磁悬浮控制力矩陀螺控制。Tel:010-82339273,E-mail:peilingcui@buaa.edu.cn;杨珊,男,硕士研究生。主要研究方向:磁悬浮控制力矩陀螺控制。E-mail:yangshanbuaa@163.com;李海涛,男,博士,讲师,硕士生导师。主要研究方向:磁悬浮控制力矩陀螺控制。E-mail:greatlht@163.com
基金资助:
国家自然科学基金(61203112)

Dynamic decoupling control and disturbance compensation of gimbal servo system of double gimbal MSCMG

CUI Peiling^1,2, YANG Shan^1,2, LI Haitao^1,2

1. School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100083, China;
2. Science and Technology on Inertial Laboratory, Beijing Unicersity, Beijing 100083, China

Received:2015-04-09 Revised:2015-05-29 Online:2016-03-15 Published:2015-06-07
Supported by:
National Natural Science Foundation of China(61203112)

摘要/Abstract

摘要：

双框架磁悬浮控制力矩陀螺(MSCMG)框架伺服系统是一个多变量、强耦合、非线性的复杂系统,针对耦合力矩对框架系统速率伺服性能的影响,以及框架系统动力学解耦之后存在残余耦合、卫星运动引起的牵连力矩和非线性摩擦的问题,提出了微分几何法与扩张状态观测器(ESO)相结合的高精度控制方法,在线性化解耦的基础上对残余耦合、牵连力矩及非线性摩擦进行观测补偿以提高框架伺服系统解耦及速率跟踪性能。仿真结果表明、由耦合力矩引起的内、外框架速率波动最大值分别从0.18(°)/s和0.12(°)/s减小到5×10^-3(°)/s和4×10^-3(°)/s,内、外框架正弦角速度跟踪误差分别从0.18(°)/s和0.19(°)/s减小到0.005(°)/s和0.004(°)/s。所提出的方法实现了框架伺服系统的动力学解耦以及非线性摩擦和牵连力矩的补偿,提高了框架系统的解耦性能和速率伺服精度。

关键词: 扰动补偿, 动力学解耦, 框架伺服系统, 微分几何法, 扩张状态观测器

Abstract:

The gimbal servo system of the double gimbal magnetically suspended control moment gyroscope(MSCMG) is a complex system with characteristics of multivariable, nonlinearity and strong coupling. In order to solve the problem that the speed-servo performance of gimbal system will be influenced by coupling moment as well as the residual coupling, convected torque caused by satellite and nonlinear friction after decoupling, the state feedback linearization decoupling method based on differential geometry combined with the extended state observer(ESO) is proposed to eliminate the influence of the coupling moment on the servo control performance of the gimbal system. Meanwhile, the convected torque caused by satellite and nonlinear friction is compensated based on linearization decoupling. The simulation results indicate that the velocity maximum fluctuation of inner and outer gimbal system caused by coupling moment respectively decreases from 0.18(°)/s and 0.12(°)/s to 5×10^-3(°)/s and 4×10^-3(°)/s; the sinusoidal velocity error of inner and outer gimbal system decreases from 0.18(°)/s and 0.19(°)/s to 0.005(°)/s and 0.004(°)/s. The results verify that the dynamic decoupling has been realized, and the nonlinear friction and convected torque caused by satellite have been compensated effectively. The decoupling performance and speed-servo precision of gimbal servo system are improved.

Key words: disturbance compensation, dynamic decoupling, gimbal servo system, differential geometry method, extended state observer

中图分类号:

V242.44

崔培玲, 杨珊, 李海涛. 双框架MSCMG框架伺服系统的动力学解耦及扰动补偿[J]. 航空学报, 2016, 37(3): 916-927.

CUI Peiling, YANG Shan, LI Haitao. Dynamic decoupling control and disturbance compensation of gimbal servo system of double gimbal MSCMG[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(3): 916-927.

参考文献

[1] BHAT S P, TIWARI P K. Controllability of spacecraft attitude using control moment gyroscopes[J]. IEEE Transactions on Automatic Control, 2009, 54(3):585-590.
[2] HAN B C, ZHENG S Q, WANG X, et al. Integral design and analysis of passive magnetic bearing and active radial magnetic bearing for agile satellite application[J]. IEEE Transactions on Magnetics, 2012, 48(6):1959-1966.
[3] REN Y, FANG J C. High-stability and fast-response twisting motion control for the magnetically suspended rotor system in a control moment gyro[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(5):1625-1634.
[4] 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. LI H T, FANG J C. Study on system vibration suppression method based on ESO used in gimbal servo system of DGMSCMG[J]. Acta Aeronautica et Astronautica Sinica, 2010, 31(6):1213-1219(in Chinese).
[5] FANG J C, LI H T, HAN B C. Torque ripple reduction in BLDC torque motor with nonideal back EMF[J]. IEEE Transactions on Power Electronics, 2012, 27(11):4630-4637.
[6] 魏彤, 房建成. 磁悬浮控制力矩陀螺的动框架效应及其角速率前馈控制方法研究[J]. 宇航学报, 2005, 26(1):19-23. WEI T, FANG J C. Moving-gimbal effect and angular rate feedforward control in magnetically suspended rotor system of CMG[J]. Journal of Astronautics, 2005, 26(1):19-23(in Chinese).
[7] 魏彤, 房建成. 双框架磁悬浮控制力矩陀螺动框架效应补偿方法[J]. 机械工程学报, 2010, 46(2):159-165. WEI T, FANG J C. Moving-gimbal effects compensation of double gimbal magnetically suspended control moment gyroscope based on compound control[J]. Journal of Mechanical Engineering, 2010, 46(2):159-165(in Chinese).
[8] FANG J C, REN Y. Decoupling control of magnetically suspended rotor system in control moment gyros based on an inverse system method[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(6):1133-1144.
[9] TUAN N N, STEVEN S, HUNG T N. Neural network based diagonal decoupling control of powered wheelchair systems[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22(2):371-378.
[10] LI J, LI S H, CHEN X S, et al. RBFNDOB-based neural network inverse control for non-minimum phase MIMO system with disturbances[J]. ISA Transactions in Disturbance Estimation and Mitigation, 2014, 53(4):983-993.
[11] 程启明, 杜许峰, 郭瑞青, 等. 基于最小二乘支持向量机的多变量逆系统控制方法及应用[J]. 中国电机工程学报, 2008, 28(35):96-101. CHENG Q M, DU X F, GUO R Q, et al. Decoupling compound control method based on least squares support vector machines multivariable inverse system and its application[J]. Proceedings of the CSEE, 2008, 28(35):96-101(in Chinese).
[12] WU M, YAN J, SHE J H, et al. Intelligent decoupling control of gas collection process of multiple asymmetric coke ovens[J]. IEEE Transactions on Industrial Electronics, 2009, 56(7):2782-2792.
[13] FANG J C, REN Y. High-precision control for a single-gimbal magnetically suspended control moment gyro based on inverse system method[J]. IEEE Transactions on Industrial Electronics, 2011, 58(9):4331-4342.
[14] 陈晓岑, 周东华, 陈茂银. 基于逆系统方法的双框架MSCMG框架伺服系统解耦控制研究[J]. 自动化学报, 2013, 39(5):502-508. CHEN X C, ZHOU D H, CHEN M Y. Decoupling control of the gimbal servo-system of the DGMSCMG based on the dynamic inverse system method[J]. Acta Automatica Sinica, 2013, 39(5):502-508(in Chinese).
[15] REN Y, FANG J C. High precision and strong-robustness control for an MSCMG based on modal separation and rotation motion decoupling strategy[J]. IEEE Transactions on Industrial Electronics, 2014, 61(3):1539-1551.
[16] 于波, 陈云相, 郭秀中. 惯性技术[M]. 北京:北京航空航天大学出版社, 1994:1-39. YU B, CHEN Y X, GUO X Z. Inertial technology[M]. Beijing:Beihang University Press, 1994:1-39(in Chinese).
[17] 杨倩, 崔培玲, 韩邦成. 卫星机动时DGMSCMG磁悬浮转子干扰补偿控制[J]. 宇航学报, 2012, 33(6):720-727. YANG Q, CUI P L, HAN B C. Disturbance compensation control of magnetically suspended rotor of DGMSCMG during spacecraft attitude maneuver[J]. Journal of Astronautics, 2012, 33(6):720-727(in Chinese).
[18] 韩邦成, 杨莲慧, 李海涛. 动基座下DGCMG框架伺服系统干扰补偿控制[J]. 振动、测试与诊断, 2014, 34(4):686-692. HAN B C, YANG L H, LI H T. Disturbance compensation control of gimbal servo system for DGCMG used in spacecraft[J]. Journal of Vibration, Measurement & Diagnosis, 2014, 34(4):686-692(in Chinese).
[19] 张景瑞. 灵敏卫星快速倾斜机动的MSCMG参数和力矩估算[J]. 清华大学学报:自然科学版, 2007, 47(11):2040-2043. ZHANG J R. Estimation of MSCMG parameters and torques for rapid slewing maneuver of agile spacecraft[J]. Journal of Tsinghua University:Science and Technology, 2007, 47(11):2040-2043(in Chinese).
[20] 吴忠, 张激扬. 控制力矩陀螺框架伺服系统动力学建模与控制[J].应用基础与工程科学学报, 2007, 15(1):130-136. WU Z, ZHANG J Y. Dynamics and control of gimbal servo systems for control moment gyroscopes[J]. Journal of Basic Science and Engineering, 2007, 15(1):130-136(in Chinese).
[21] 姜长生, 吴庆宪, 费树岷. 现代非线性系统鲁棒控制基础[M]. 哈尔滨:哈尔滨工业大学出版社, 2008:30-46. JIANG C S, WU Q X, FEI S M. Robust control basis of modern nonlinear systems[M]. Harbin:Harbin Institute of Technology Press, 2008:30-46(in Chinese).
[22] 韩京清. 自抗扰控制技术——估计补偿不确定因素的控制技术[M]. 北京:国防工业出版社, 2008:150-260. HAN J Q. Active disturbance rejection control technique-The technique for estimating and compensation the uncertainties[M]. Beijing:National Defence Industry Press, 2008:150-260(in Chinese).
[23] SU Y X, ZHENG C H, DUAN B Y. Automatic disturbances rejection controller for precise motion control of permanent magnet synchronous motors[J]. IEEE Transactions on Industrial Electronics, 2005, 52(3):814-823.
[24] ZHAO H X, CHEN S L, LI M. A sufficient condition for the stability of the third-order extended state observer[C]//Proceedings of the 32nd Chinese Control Conference, 2013:1526-1531.
[25] 刘金琨. 滑模变结构控制MATLAB仿真[M]. 北京:清华大学出版社, 2005:50-59. LIU J K. MATLAB simulation for sliding mode control[M]. Beijing:Tsinghua University Press, 2005:50-59(in Chinese).

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

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

双框架MSCMG框架伺服系统的动力学解耦及扰动补偿

Dynamic decoupling control and disturbance compensation of gimbal servo system of double gimbal MSCMG

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	殷泽阳, 邢友朋, 韩飞, 魏才盛, 廖宇新. 编队航天器协同绕飞非合作目标的全驱预设性能控制[J]. 航空学报, 2024, 45(1): 628904-628904.
[2]	赵旭, 齐国元, 蔚昕晨, 胡建兵, 李霞. 补偿函数观测器及其在飞行器姿态控制中的应用[J]. 航空学报, 2023, 44(9): 327224-327224.
[3]	李政, 于剑桥, 赵新运. 空空导弹敏捷转弯固定时间收敛滑模控制[J]. 航空学报, 2023, 44(8): 327262-327262.
[4]	徐世昊, 关英姿, 浦甲伦, 韦常柱. VTHL运载器再入返回预设时间滑模控制[J]. 航空学报, 2023, 44(7): 326857-326857.
[5]	张亮, 李丹钰, 崔乃刚, 李源. 垂直起降可重复使用运载火箭全剖面飞行预设性能控制[J]. 航空学报, 2023, 44(23): 628103-628103.
[6]	李宁, 刘志勇, 王娜, 杨垒. 基于DUEA的天线伺服控制系统仿真[J]. 航空学报, 2022, 43(2): 324986-324986.
[7]	李霞, 齐国元, 郭曦彤, 赵旭. 高阶微分反馈控制及在四旋翼飞行器中的应用[J]. 航空学报, 2022, 43(12): 326047-326047.
[8]	罗世彬, 吴瑕, 魏才盛. 可重复使用飞行器的保性能姿态跟踪控制方法[J]. 航空学报, 2021, 42(11): 524660-524660.
[9]	董晓飞, 任章, 池庆玺, 李清东. 有向拓扑条件下针对机动目标的分布式协同制导律设计[J]. 航空学报, 2020, 41(S1): 723762-723762.
[10]	刘佳琪, 王伟, 林德福, 林时尧. 考虑驾驶仪动态性能的指令滤波反演制导律[J]. 航空学报, 2020, 41(12): 324123-324123.
[11]	姜尚, 田福庆, 孙世岩, 梁伟阁. 滚转舰炮制导炮弹的空间多约束导引与控制一体化设计[J]. 航空学报, 2019, 40(10): 323101-323101.
[12]	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.
[13]	徐喆垚, 陈宇坤, 齐乃明, 阳勇. 航天器交会对接模拟系统逼近过程自抗扰控制[J]. 航空学报, 2016, 37(5): 1552-1562.
[14]	董晨, 晁涛, 王松艳, 杨明. 考虑扰动及控制饱和的多约束末制导方法[J]. 航空学报, 2014, 35(8): 2225-2233.
[15]	张尧, 郭杰, 唐胜景, 马悦悦. 导弹制导与控制一体化三通道解耦设计方法[J]. 航空学报, 2014, 35(12): 3438-3450.