控制力矩陀螺框架伺服系统动力学建模与控制  

Dynamics and Control of Gimbal Servo Systems for Control Moment Gyroscopes

作　　者：吴忠[1] 张激扬[2] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100083 [2]北京控制工程研究所,北京100080

出　　处：《应用基础与工程科学学报》2007年第1期130-136,共7页Journal of Basic Science and Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2002AA741103)

摘　　要：为准确描述航天器和单框架控制力矩陀螺(SGCMG)间的相互作用,本文对应用在航天器上的SGCMG进行了全面的动力学分析,并建立了框架伺服系统的动力学模型.同时,为SGCMG框架伺服系统设计了一个扰动力矩观测器,并采用基于扰动力矩补偿的PID控制器对其进行控制.该观测器形式简单,易于实现,并能极大地抑制摩擦力矩、脉动力矩、航天器运动引起的牵连力矩等扰动力矩对框架伺服性能的影响.最后,用一个仿真例子对框架伺服系统的动力学模型及扰动力矩抑制方法进行了验证.As inertial actuators mounted on the spacecrafts, Single Gimbal Control Moment Gyroscopes （SGCMGs） can affect the attitude control accuracy to a great extent. However, SGCMGs can not output exact torques under the simple PID control strategies because they are actuated not only by the motor disturbances, but also by the gyroscopic disturbances resulted from the attitude motions of the spacecrafts. Therefore, a dynamic model is established for the gimbal servo systems based on the thorough analysis of SGCMG dynamics at first. Thus, an accurate description of the mutual influences between the spacecrafts and the SGCMGs can be obtained. Then, a PID controller with a disturbance observer is designed for the gimbal servo systems. This algorithm not only has a simple form, but also can attenuate the effects of the disturbances, such as gimbal friction, ripple, and the gyroscopic torque, etc. Simulation results indicate that the control algorithm is feasible.

关 键 词：控制力矩陀螺 航天器 伺服系统 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]