• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (10): 52-59.doi: 10.3901/JME.2017.10.052

• 仪器科学与技术 • 上一篇    下一篇

基于干扰观测器的双框架变速率控制力矩陀螺 解耦控制

宁欣1,2, 韩邦成1,2,3, 房建成1,2   

  1. 1. 北京航空航天大学仪器科学与光电工程学院 北京 100191;
    2. 北京航空航天大学新型惯性仪表与导航系统技术国防重点学科实验室 北京 100191;
    3. 北京航空航天大学北京市高速磁悬浮电机技术及应用工程技术研究中心 北京 100191
  • 出版日期:2017-05-15 发布日期:2017-05-15
  • 作者简介:

    宁欣(通信作者),女,1991年出生。主要从事双框架控制力矩陀螺框架伺服系统控制的研究。

    E-mail:nancyning@buaa.edu.cn

  • 基金资助:
    * 国家自然科学基金资助项目(61573032); 20160625收到初稿,20161229收到修改稿;

Disturbance Observer Based Decoupling Method of Double-gimbaled Variable Speed Control Moment Gyroscope

NING Xin1,2, HAN Bangcheng1,2,3, FANG Jiancheng1,2   

  1. 1. School of Instrumentation Science and Optoelectronics Engineering,Beihang University, Beijing 100191;
    2. Fundamental Science on Novel Inertial Instrument and Navigation System Technology Laboratory, Beihang University, Beijing 100191;
    3. Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191
  • Online:2017-05-15 Published:2017-05-15

摘要:

双框架变速率控制力矩陀螺(Double-gimbaled variable-speed control moment gyroscope, DGVSCMG)是航天器重要姿态执行机构。它由内外框架速率伺服系统和转速可变的高速转子组成,有飞轮和控制力矩陀螺(Control moment gyroscope, CMG)两种工作模式。在两种工作模式下,框架伺服系统都会受到不匹配干扰,降低速率伺服性能,影响DGVSCMG的输出力矩精度,需要加以抑制。为了提高框架系统抗扰性能,并保证系统角速率伺服精度,提出一种基于干扰观测器(Disturbance observer, DO)与状态反馈的解耦控制方法。在对DGVSCMG框架系统的不匹配扰动建模与分析的基础上,利用鲁棒控制思想设计控制器与干扰观测器参数,并对全局系统进行了稳定性分析。仿真和试验结果表明,所提出的方法可有效抑制双框架伺服系统干扰,并满足DGVSCMG框架系统的性能要求。

关键词: 不匹配干扰抑制, 干扰观测器, 解耦控制, 框架伺服系统, 双框架变速率控制力矩陀螺

Abstract:

Consisted of an inner and outer gimbal system and a high variable speed rotor system, double-gimbaled variable-speed control moment gyroscope (DGVSCMG), which can work at flywheel mode and CMG mode, serves as a primary actuator for attitude control of spacecraft. In both working modes, the gimbal system suffers from mismatched disturbances, affecting its speed servo performance and the output torque of DGVSCMG. In order to increase system robustness against disturbances as well as improve gimbal system speed tracking accuracy, a decoupling control of gimbal system based on state feedback control and disturbance observer (DO) is proposed. The mismatched disturbances of gimbal system are first analyzed and the controller parameters are designed using robust control theory with the stability of overall system proved. Both the simulation and experimental results demonstrate the effectiveness of the proposed method.

Key words: decoupling control, disturbance observer, gimbal servo system, mismatched disturbance rejection, DGVSCMG