基于积分终端滑模的SGCMG伺服系统抗干扰控制

doi:10.7527/S1000-6893.2024.30768

Abstract

Abstract:

The Single Gimbal Control Moment Gyroscope （SGCMG） is a crucial component in spacecraft attitude control. To address the impact of flexible isolators and unknown disturbances in space， a composite control scheme based on Integral Terminal Sliding Mode Control （ITSMC） and Finite-Time Disturbance Observer （FTDO） has been designed. This scheme effectively eliminates the uncertain disturbances present in flexible isolators and achieves the desired velocity within the convergence time. Compared to traditional PI controllers， the designed integral terminal sliding mode controller exhibits lower fluctuation amplitude and oscillation frequency， with a steady-state error ≤ 0.032， a 40% faster adjustment time， and a 24% reduction in overshoot， demonstrating stronger disturbance rejection capabilities. Additionally， a finite-time observer is designed for disturbance compensation on the integral terminal sliding mode controller， resulting in a further reduction of steady-state error to ≤ 0.003 and an overshoot reduced to 1%. The composite controller shows low chattering and strong disturbance rejection， effectively eliminating unknown disturbances in space. Finally， MATLAB simulations confirm that the proposed method achieves the desired performance.

Key words: SGCMG, flexible support, integral terminal sliding mode, disturbance observer, anti disturbance

CLC Number:

V442

Ming LU, Nuo SU, Weiheng ZHAO, Ge CAO, Limei TIAN, Qiang ZHANG. Anti-interference control of a single-frame controlled moment SGCMG servo system based on integral terminal sliding mode[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730768.

Figures/Tables 14

Fig.1

Fig.2

Fig.3

Table 1

SGCMG related parameter table

指标	数值
$J r$ /（kg·m²）	0.68
$J f$ /（kg·m²）	0.86
$n p$	4
$R s$ / $Ω$	8
$L / m H$	0.625
$ψ f / W b$	7/12
$B$	0.001

Table 1

Fig.4

Table 2

Controller key parameters

参数	数值
$(k 1, k 2)$	$(1 000,200)$
$(α 1, α 2)$	$(0.6,0.75)$
L	1
t	1
K_p	3/5
m	1
p	3/5

Table 2

Fig.5

Fig.6

Fig.7

Table 3

System performance metrics under different controls

性能指标	PI	ITSM	ISM+FTDO
$σ$	30	6	1
$t s$	0.5	0.3	0.4
$e s s (∞)$	$≤ 0.124$	$≤ 0.032$	$≤ 0.003$

Table 3

Fig.8

Fig.9

Fig.10

Fig.11

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Anti-interference control of a single-frame controlled moment SGCMG servo system based on integral terminal sliding mode

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