双框架控制力矩陀螺框架系统的扰动观测及抑制

李海涛; 宋鹏; 侯林

doi:10.3788/OPE.20202802.0340

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双框架控制力矩陀螺框架系统的扰动观测及抑制

微纳技术与精密机械 | 更新时间：2020-07-16

- 双框架控制力矩陀螺框架系统的扰动观测及抑制
- Disturbance observation and rejection for gimbal system of double gimbal control moment gyroscope
- 光学精密工程 2020年28卷第2期页码：340-349
- 作者机构：
  
  北京航空航天大学仪器科学与光电工程学院，北京 100191
- 作者简介：
  
  [ "李海涛(1979-)，男，山东聊城人，博士，副教授，硕士生导师，2005年于山东大学获得硕士学位，2010年于北京航空航天大学获得博士学位，主要从事航天器磁悬浮惯性执行机构和高精度电机伺服控制方面的研究。E-mail: haitaoli@buaa.edu.cn" ]
  [ "宋鹏(1994-)，男，山东滨州人，硕士，2017年于山东科技大学获得学士学位, 2020年于北京航空航天大学获得硕士学位，主要从事电机伺服控制方面的研究。E-mail:sp19941011@163.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(61773038)
- DOI：10.3788/OPE.20202802.0340
  中图分类号： TM351; TH89
- 收稿日期：2019-05-06，
  
  修回日期：2019-06-01，
  
  录用日期：2019-6-1，
  
  纸质出版日期：2020-02-15
- 稿件说明：
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李海涛, 宋鹏, 侯林. 双框架控制力矩陀螺框架系统的扰动观测及抑制[J]. 光学精密工程, 2020,28(2):340-349.

Hai-tao LI, Peng SONG, Lin HOU. Disturbance observation and rejection for gimbal system of double gimbal control moment gyroscope[J]. Optics and precision engineering, 2020, 28(2): 340-349.
李海涛, 宋鹏, 侯林. 双框架控制力矩陀螺框架系统的扰动观测及抑制[J]. 光学精密工程, 2020,28(2):340-349. DOI： 10.3788/OPE.20202802.0340.

Hai-tao LI, Peng SONG, Lin HOU. Disturbance observation and rejection for gimbal system of double gimbal control moment gyroscope[J]. Optics and precision engineering, 2020, 28(2): 340-349. DOI： 10.3788/OPE.20202802.0340.

摘要

内外框架间的耦合力矩、非线性摩擦和未建模动态是影响双框架控制力矩陀螺框架系统高精度角速率伺服控制的主要因素。为提高框架系统的干扰抑制能力，保证框架系统输出角速率精度，本文提出了一种基于非线性级联扩张状态观测器和滑模控制的复合扰动抑制方法。框架系统中的所有干扰都被认为是集总干扰并由设计的NCESO估计，通过滑模控制可从系统输出通道中消除集总干扰的影响。最后，将本文提出的控制方法与线性级联扩张状态观测器和状态反馈结合的复合控制方法进行了对比仿真实验。仿真和实验结果表明，本文提出的方法具有更好的干扰抑制和动态响应性能，内框架角速度波动从0.5 (°)/s减小到0.2 (°)/s，外框架角速度波动从0.45 (°)/s减小到0.15 (°)/s；跟踪正弦参考信号时，速度跟踪误差从1.8 (°)/s减小到1.2 (°)/s，相位滞后从8°减小到1.3°。

Abstract

Coupling moments

nonlinear friction

and unmodeled dynamics between inner and outer gimbals are the main factors that influence the precise control of a double gimbal control moment gyro (DGCMG). To improve the interference suppression ability and ensure the output angular speed accuracy of gimbal systems

this study presents a composite decoupling control method based on a nonlinear cascade extended state observer (NCESO) and sliding mode control. All disturbances in a gimbal system are regarded as the lumped disturbance

which is estimated by the designed NCESO. By combining a sliding mode controller

these disturbances can be eliminated from the output channel of the system. Finally

simulations and experiments of the control method proposed in this study and a linear cascade extended state observer (LCESO) combined with state feedback were carried out. The simulation and experimental results show that the proposed method has better interference suppression performance and dynamic response performance. The angular speed fluctuation of the inner gimbal is reduced from 0.5 (°)/s to 0.2 (°)/s and the angular speed fluctuation of the outer gimbal is reduced from 0.45 (°)/s to 0.15 (°)/s. Moreover

the speed tracking error is reduced from 1.8 (°)/s to 1.2 (°)/s and the phase delay is reduced from 8° to 1.3° when tracking the sinusoidal reference signal.

关键词

Keywords

references

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