Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback

CHEN Mao-sheng; JIN Guang; ZHANG Tao; DAI Lu; PIAO Yong-jie; ZHOU Mei-li; QU Hong-song

doi:10.3788/OPE.20122011.2424

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Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback

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- Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback
- Optics and Precision Engineering Vol. 20, Issue 11, Pages: 2424-2432(2012)
- 作者机构：
  
  1. 中国科学院大学北京,中国,100049
  2. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122011.2424
  CLC： TP273;V448.2
- Received：05 March 2012，
  
  Revised：07 April 2012，
  
  Published：10 November 2012
- 稿件说明：
移动端阅览
陈茂胜, 金光, 张涛, 戴路, 朴永杰, 周美丽, 曲宏松. 积分反馈自抗扰控制力矩陀螺框架伺服系统设计[J]. 光学精密工程, 2012,20(11): 2424-2432

CHEN Mao-sheng, JIN Guang, ZHANG Tao, DAI Lu, PIAO Yong-jie, ZHOU Mei-li, QU Hong-song. Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback[J]. Editorial Office of Optics and Precision Engineering, 2012,20(11): 2424-2432
陈茂胜, 金光, 张涛, 戴路, 朴永杰, 周美丽, 曲宏松. 积分反馈自抗扰控制力矩陀螺框架伺服系统设计[J]. 光学精密工程, 2012,20(11): 2424-2432 DOI： 10.3788/OPE.20122011.2424.

CHEN Mao-sheng, JIN Guang, ZHANG Tao, DAI Lu, PIAO Yong-jie, ZHOU Mei-li, QU Hong-song. Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback[J]. Editorial Office of Optics and Precision Engineering, 2012,20(11): 2424-2432 DOI： 10.3788/OPE.20122011.2424.

摘要

设计了永磁同步电机直驱的控制力矩陀螺(CMG)框架伺服系统

并提出积分反馈自抗扰控制(ADRC)伺服跟踪算法用于实时跟踪CMG操纵律输出的框架角速度指令。首先

采用电机轴电流i

=0的矢量控制策略建立了CMG框架伺服系统的数学模型;然后

分析摩擦力矩和齿槽力矩对CMG框架伺服系统性能的影响

并在Matlab中搭建速度环采用ADRC的框架伺服仿真系统;最后

对框架伺服系统的速度环分别采用模糊PI、ADRC、积分反馈ADRC算法进行实验。实验结果表明:采用积分反馈ADRC算法跟踪0.1~2.0 rad/s时

稳态精度为0.005~0.012 rad/s;跟踪0.0~0.1 rad/s时

稳态精度为0.001~0.005 rad/s

临界爬行速度为0.003 rad/s;跟踪2sin(

) rad/s速度曲线时

幅值误差为0.55%

相位滞后0.09978 rad。结果满足CMG框架伺服系统精度高、鲁棒性强的要求。

Abstract

The gimbal servo system for a Control Moment Gyroscope(CMG) directly driven by a Permanent Magnet Synchronous Motor (PMSM) was designed

and an Active Disturbance Rejection Control(ADRC) algorithm with integral feedback was proposed. Firstly

the mathematic model for the CMG gimbal servo system was built by using an oriented control strategy in shaft current i

=0. Then

the effects of both frictional and alveolar torques on the performance of gimbal servo system were analyzed. A simulation system for gimbal servo system which used the ADRC as a speed loop was built up in Matlab. Finally

the hardware experiments of fuzzy PI

ADRC and the ADRC with integral feedback were carried out. Test and experiments show that the steady state accuracy is 0.005-0.012 rad/s when a step velocity of 0.1-2.0 rad/s is tracked by using the ADRC.

and that is 0.001-0.005 rad/s and the crawling speed is 0.003 rad/s when the step velocity of 0.0-0.1 rad/s is tracked by using the ADRC with integral feedback. Furthermore

the relative amplitude error is 0.55% and the phase error is 0.099 78 rad

when the gimbal system tracks the 2sin(t) rad/s by using the ADRC with integral feedback. The proposed gimbal servo system of CMG satisfies the demands of high precision and robustness.

关键词

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references

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