微动量轮高精度滑模变结构控制

王梦赑; 张高飞; 尤政; 田宁

doi:10.3788/OPE.20152309.2553

您当前的位置：

首页 >

文章列表页 >

微动量轮高精度滑模变结构控制

微纳技术与精密机械 | 更新时间：2020-08-12

- 微动量轮高精度滑模变结构控制
- High precision sliding mode control for micro-momentum wheel
- 光学精密工程 2015年23卷第9期页码：2553-2561
- 作者机构：
  
  清华大学精密仪器系精密测试技术及仪器国家重点实验室北京,100084
- 作者简介：
- 基金信息：
  
  国家863高技术研究发展计划资助项目(No.2013AA122601)()
- DOI：10.3788/OPE.20152309.2553
  中图分类号： TP273;V448.22
- 收稿日期：2015-03-17，
  
  修回日期：2015-04-10，
  
  纸质出版日期：2015-09-25
- 稿件说明：
移动端阅览
王梦赑, 张高飞, 尤政等. 微动量轮高精度滑模变结构控制[J]. 光学精密工程, 2015,23(9): 2553-2561

WANG Meng-bi, ZHANG Gao-fei, YOU Zheng etc. High precision sliding mode control for micro-momentum wheel[J]. Editorial Office of Optics and Precision Engineering, 2015,23(9): 2553-2561
王梦赑, 张高飞, 尤政等. 微动量轮高精度滑模变结构控制[J]. 光学精密工程, 2015,23(9): 2553-2561 DOI： 10.3788/OPE.20152309.2553.

WANG Meng-bi, ZHANG Gao-fei, YOU Zheng etc. High precision sliding mode control for micro-momentum wheel[J]. Editorial Office of Optics and Precision Engineering, 2015,23(9): 2553-2561 DOI： 10.3788/OPE.20152309.2553.

摘要

基于滑模变结构算法研究了小卫星微动量轮的精确控制。在系统整体控制框架的基础上

对微动量轮动力学模型进行了分析;结合理想模型引入纹波电压、摩擦系数不确定性、扰动力矩等干扰因素

完善了微动量轮动力学模型。设计了等效滑模变结构控制算法

并对控制率参数进行了仿真优化。通过MATLAB仿真

对比分析了滑模变结构控制和常规PI控制在转速控制和力矩控制两种模式下的特性。最后

实验设计了微动量轮样机。仿真结果表明:基于滑模变结构控制的微动量轮转速控制精度达到±0.5 r/min

从0加速到2 000 r/min的时间为18 s

均明显优于PI控制。实验结果表明:利用滑模变结构控制的微动量轮转速控制精度达到±0.9 r/min

从0加速到2 000 r/min的时间为26 s。上述结果显示:利用滑模变结构控制算法可以有效克服微动量轮控制中的干扰因素

提高转速控制精度和输出力矩稳定度

缩短转速变化响应时间。

Abstract

The precision control of a micro-momentum wheel in micro-satellite was researched based on a sliding mode control algorithm. On the basis of the whole control system framework

the dynamic model of the micro-momentum wheel was analyzed. Combination of the ideal model and consideration of the interference factors such as ripple voltage

the uncertainty of friction coefficient

and disturbance torque

the dynamic model of micro-momentum wheel was improved. Then

sliding mode control algorithm was designed

and simulation control rate parameters were optimized. Through MATLAB simulation

sliding mode control and conventional PI control were compared for the torque control and speed control. Finally

a micro-momentum wheel prototype was designed. The simulation results show that the speed control precision of the micro-momentum wheel based on sliding mode control is ±0.5 r/min and it can accelerate from 0 to 2 000 r/min in 18 s

both are much better than that based on PI control. Experimental results demonstrate that the speed control precision of the micro-momentum wheel based on sliding mode control is ±0.9 r/min and it can accelerate from 0 to 2 000 r/min in 26 s. These results indicate that sliding mode control algorithm effectively overcomes the control interference factors of the micro-momentum wheel and improves the speed control precision

shortens the acceleration time.

关键词

Keywords

references

尤政,龚克,陆建华. 微小卫星的技术发展与思路[J]. 科技导报,2001(3):43-47. YOU ZH, GONG K, LU J H. Development of micro-satellite technology and its thinking [J].Science & Technology Review, 2001(3):43-47. (in Chinese)

陆建华,王京,龚克. 微小卫星技术发展及其应用[J]. 世界电信,2001,14(11):8-11. LU J H, WANG J, GONG K. Development and application of micro-satellite [J]. World Telecommunications, 2001, 14(11):8-11. (in Chinese)

范志涵,张召才. 国外小卫星最新发展研究[J]. 国际太空,2013,(8):20-29. FAN ZH H, ZHANG ZH C. The research for latest development of foreign microsatellite [J].Space International, 2013,(8):20-29.(in Chinese)

朱鲁青,张召才. 2013年国外微小卫星回顾[J]. 国际太空,2014,(2):38-43. ZHU L Q, ZHANG ZH C. The development of foreign microsatellite in 2013 [J].Space International, 2014,(2):38-43.(in Chinese)

ISMAIL Z, VARATHARAJOO R. A study of reaction wheel congurations for a 3-axis satellite attitude control [J]. Advances in Space Research, 2010, 45(6):750-759.

王辉,武俊峰,李胤,等. 小卫星用反作用飞轮系统设计[J]. 光学精密工程, 2014, 22(2):331-337. WANG H, WU J F, LI Y, et al.. Micro/Nano technology and fine mechanics design of reaction flywheel systems for small satellites [J]. Opt. Precision Eng., 2014, 22(2):331-337.

SHANKAR N S, NAIR P S, GHOSAL A. Dynamic interaction of rotating momentum wheels with spacecraft elements [J]. Journal of Sound and Vibration, 2008, 315:970-984.

AGRAWAL S K, PATHAK K, FRANCH J, et al.. A differentially flat open-chain space robot with arbitrarily oriented joint axes and two momentum wheels at the base [J]. IEEE Transactions on Automatic Control, 2009, 54(9):2185-2191.

刘强, 房建成, 韩邦成. 磁悬浮飞轮锁紧保护技术研究与发展现状[J]. 光学精密工程, 2014, 22(9):2465-2475. LIU Q, FANG J CH, HAN B CH. Research and development status of locking protection technologies for magnetic bearing flywheels [J].Opt. Precision Eng., 2014, 22(9):2465-2475. (in Chinese)

陈茂胜, 金光, 安源,等. 采用自适应PI控制的单框架控制力矩陀螺角动量飞轮系统的设计[J]. 光学精密工程, 2011, 19(5):1075-1081. CHEN M SH, JIN G, AN Y, et al.. Design of angular momentum wheel in SGCMG using adaptive compensation PI control [J].Opt. Precision Eng., 2011, 19(5):1075-1081. (in Chinese)

纪志成,沈艳霞,薛花. 无刷直流电机自适应模糊控制的研究[J]. 中国电机工程学报,2005,25(5):104-109. JI ZH CH, SHEN Y X, XUE H. Study on the adaptive fuzzy control for brushless DC motor [J].Proceedings of the CSEE, 2005,25(5):104-109.(in Chinese)

夏长亮,祁温雅,杨荣, 等. 基于RBF神经网络的超声电机参数辨识与模型参考自适应控制[J]. 中国电机工程学报,2004,24(7):117-121. XIA CH L, QI W Y, YANG R, et al.. Identification and model reference adaptive control for ultrasonic motor based on RBF neural network [J]. Proceedings of the CSEE, 2004,24(7):117-121.(in Chinese)

GOKBULUT M, DANDIL B, BAL C. A hybrid neuro-fuzzy controller for brushless DC motor [J].Lecture Notes in Computer Science, 2006, 3949:125-132.

GENCER C, SAYGIN A, COSKUN I. DSP based fuzzy-neural speed tracking control of brushless DC motor [J]. Lecture Notes in Computer Science, 2006, 39(49):107-116.

RUBAAI A., RICKETTS D., KANKAM M.D. Development and implementation of an adaptive fuzzy-neural-network controller for brushless drives [J]. IEEE Transactions on Industry Applications, 2002, 38(2):441-447.

李光军,刘刚,张聪. 基于单神经元PID算法的微小飞轮高精度控制[J]. 宇航学报, 2013, 34(1):54-60. LI G J,LIU G, ZHANG C. High accuracy control for micro flywheel based on single neuron PID algorithm [J]. Journal of Astronautics, 2013, 34(1):54-60. (in Chinese)

李鹏. 传统和高阶滑模控制研究及其应用[D]. 长沙:国防科学技术大学, 2011. LI P. Research and Application of Traditional and Higher-Order Sliding Mode Control [D]. Changsha:National University of Defense Technology,2011. (in Chinese)

YEH H, NELSON E, SPARKS A. nonlinear tracking control for satellite formation [J].Journal of Guidance, Control and Dynamics, 2002, 25(2):376-386.

EKER I. Second-order sliding mode control with PI sliding surface and experimental application to an electromechanical plant [J]. Arabian Journal For Science And Engineering, 2012, 37(7):1969-1986.

刘金琨. 滑模变结构控制MATLAB仿真[M]. 北京:清华大学出版社. LIU J K. Sliding Mode Control Design and Matlab Simulation [M]. Beijing:Tsinghua University press. (in Chinese)

陈非凡, 张高飞, 陈益峰. 小卫星动量轮非线性特性建模与仿真方法[J]. 宇航学报, 2003, 24(6):651-655 CHEN F F, ZHAN G F, CHEN Y F. Non-linear modeling and simulation technique for momentum wheel of small satellites [J].Journal of Astronautics, 2003, 24(6):651-655. (in Chinese)

浏览量

379

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于改进指数趋近律和自适应龙伯格观测器的PMSM速度环滑模控制

压电平台高精度自适应分数阶滑模跟踪控制

双轴音圈电机快速反射镜的系统建模与滑模控制

低轨光学卫星同轨立体成像姿态规划与控制方法

刚性航天器的预定义时间滑模控制