双框架MSCMG框架伺服系统的动力学解耦及扰动补偿
收稿日期: 2015-04-09
修回日期: 2015-05-29
网络出版日期: 2015-06-07
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
Received date: 2015-04-09
Revised date: 2015-05-29
Online published: 2015-06-07
Supported by
National Natural Science Foundation of China(61203112)
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。
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 . DOI: 10.7527/S1000-6893.2015.0163
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.
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