磁悬浮控制力矩陀螺框架伺服系统扰动力矩分析与抑制  

Analysis and Attenuation of Disturbance Torque in Control Moment Gyro Gimbal Servo Systems

作　　者：于灵慧[1] 房建成[1] 

机构地区：[1]北京航空航天大学第五研究室,北京100083

出　　处：《宇航学报》2007年第2期287-291,共5页Journal of Astronautics

基　　金：国家"863"高技术航天领域项目(2003AA741022)

摘　　要：对磁悬浮控制力矩陀螺框架伺服系统,提出了一种基于自适应逆扰动消除控制的设计方法。该控制器采用将被控对象动态控制和对象扰动控制分离处理的方法研究了控制力矩陀螺框架伺服系统的非线性摩擦干扰力矩、陀螺房内部高速磁悬浮转子系统因框架变速转动对框架伺服系统产生的耦合力矩以及航天器姿态改变导致框架伺服系统本身的参数大范围变化等问题。设计的自适应逆扰动消除器大大改善了框架伺服系统的控制性能、提高了系统的速率输出精度。仿真结果表明,提出的扰动力矩抑制方法是可行的,具有很强的鲁棒性。This paper presents an interference eliminator designs based on adaptive inverse control for gimbal servo system of magnetically suspended control moment gyro. This approach treats dynamic control of plant as a separate problem from that of control of plant disturbance by adopting the structure of adaptive inverse control and considers the interference effects of the nonlinear friction disturbing moment, the coupling moment caused by high speed magnetic suspend rotor and velocity change of gimbal sys- tem and the parametric variation by changing the attitude of the spacecraft to gimbal control performance. Based on the suggested adaptive inverse control interference eliminator design, the controller may be much better to improve the gimbal servo control system performance than conventional interference inverter. Simulation validations show that the proposed interference eliminator can suppress disturbed moment and has excellent robust capability.

关 键 词：磁悬浮控制力矩陀螺 自适应逆控制 扰动力矩 耦合力矩 摩擦 

分 类 号：TP229[自动化与计算机技术—检测技术与自动化装置] V444[自动化与计算机技术—控制科学与工程]