›› 2017, Vol. 37 ›› Issue (2): 126-131.doi: 10.16708/j.cnki.1000-758X.2017.0048

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Researchonultra-lowspeedmeasurementforCMGgimbalbasedontracking-differentiator

 SU  Nuo, LU  Ming*, ZHAI  Bai-Chen, HU  Yue-Wei   

  1. BeijingInstituteofControlEngineering,Beijing100190,China
  • Received:2016-11-25 Revised:2017-04-25 Online:2017-06-25 Published:2017-05-18

Abstract: Atultra-lowspeed,theprecisionofgimbalspeedmeasurementisakeyfactorwhichinfluencesthecontrolaccuracyofacontrolmomentgyro(CMG)gimbalsystem.Focusingontheproblemofnoiseamplificationbroughtbyconventionalfirst-orderbackwarddifferentiatorwhencalculatingultra-lowspeed,areal-timespeedestimationmethodbasedonanonlineartrackingdifferentiatoranditsdiscretetimeexpressionusingthefourthorderRunge-Kuttamethodwasproposed.Acompositespeedmeasuringmethodwaspresentedtosolvethetrackingdelayproblemwhenusingtrackingdifferentiatorsdirectly.Then,thenumericalsimulationandexperimentwereconducted.Thesimulationresultsdemonstratethatthespeedestimationmethodproposedcouldreducethequantizationnoisesbroughtbytachometersandmeasurementnoises.Theexperimentalresultsshowthatbyusingtracking-differentiatorsthefluctuationofgimbalspeedisreducedby67.1%.

Key words: controlmomentgyro(CMG), gimbal, PMSM, ultra-lowspeed, trackingdifferentiators