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

Abstract

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

CLC Number:

V242.44

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.

References

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

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