›› 2013, Vol. 33 ›› Issue (1): 15-20.doi: 10.3780/j.issn.1000-758X.2013.01.003

• 研究探讨 • 上一篇    下一篇

SGCMG框架伺服系统扰动力矩分析与控制

鲁明1,2, 张欣2, 李耀华1   

  1. (1 中国科学院电力电子与电气驱动重点实验室,北京100190)(2 北京控制工程研究所,北京100190)
  • 收稿日期:2012-05-07 修回日期:2012-09-04 出版日期:2013-02-25 发布日期:2013-02-25
  • 作者简介:鲁明 1981年生,2007年获西安交通大学机械电子专业硕士学位,现为北京控制工程研究所工程师。研究方向为空间执行机构控制技术。
  • 基金资助:

    载人航天领域预先研究(020106)资助项目

Analysis and Control of Disturbance Torque in SGCMG Gimbal Servo System

Lu Ming1,2,Zhang Xin2,Li Yaohua1   

  1. (1 Key Laboratory of Power Electronics and Electric Drive, Institute of Electrical Engineering, Beijing 100190) (2 Beijing Institute of Control Engineering, Beijing 100190)
  • Received:2012-05-07 Revised:2012-09-04 Online:2013-02-25 Published:2013-02-25

摘要: 单框架控制力矩陀螺框架伺服系统对扰动力矩抑制能力的不足限制了其控制精度的进一步提高。文章对框架伺服系统受到的扰动力矩及其对框架伺服系统控制性能的影响进行了分析;设计了基于终端滑模变结构控制策略和扰动观测器的框架转速控制器;利用变结构控制对系统干扰的不变性和对滑动模态控制的快速响应特性,实现了框架伺服系统在扰动力矩波动,尤其是高频扰动力矩波动条件下的高精度控制。仿真结果表明,相比传统的比例-积分-微分控制策略,提出的控制方法可行有效,将框架转速波动量缩小了2/3。

关键词: 控制力矩陀螺, 伺服系统, 扰动, 变结构控制, 空间执行机构

Abstract: Deficient capability of disturbance torque attenuation restricts further improvements on the speed control performance of control moment gyro gimbal servo system. Based on the analysis of the disturbance torque and its influences, a terminal variable structure controller combined with disturbance observer was proposed. Utilizing the characteristics of invariance and fast response of the variable structure controller, high precision control was realized under the condition of disturbance torque fluctuations especially high frequency disturbance torque fluctuations. Simulation results show that the proposed method is feasible and efficient. Comparing with the proportional integral derivative controller, the speed fluctuating quantity decreases more than 2/3.

Key words: Control moment gyro, Servo system, Disturbance, Variable structure control, Space actuator