控制力矩陀螺框架控制方法及框架转速测量方法  

Gimbal Control Technique and Gimbal Rate Measurement Method for the Control Moment Gyro

作　　者：张激扬[1] 周大宁[1] 高亚楠[1] 

机构地区：[1]北京控制工程研究所,北京100190

出　　处：《空间控制技术与应用》2008年第2期23-28,共6页Aerospace Control and Application

摘　　要：控制力矩陀螺是一种具有力矩放大特性的惯性执行机构,通常应用于大型航天器姿态控制。近年来,随着相关技术的发展,对基于控制力矩陀螺的中小卫星快速机动平台的需求日益迫切,这不仅需要控制力矩陀螺能够输出大力矩,而且要具有较高的力矩输出精度。本文结合工程实践,提出一种框架转速精度测量方法,以及一种采用正弦永磁同步电机,基于转子磁场定向的矢量控制方案。该框架控制方案中引入摩擦力矩观测器及其补偿算法,在控制回路中通过对摩擦力矩的补偿,可有效提高框架驱动控制系统的稳定性和动态性能。The control moment gyros （CMG） are high-output-torque inertial actuators with torque amplifying capability and are usually used in the attitude control systems of large spacecrafis. In recent years, with the progress of some related techniques, the demands for CMG-based middle and small satellite platforms with high maneuver capability are rapidly increasing, and the CMGs are expected to output torques with not only high magnitude but also high accuracy. In consideration of the engineering practice, this paper proposes a method for measuring the accuracy of CMG gimbal angular rate. Also, a rotor magnetic flux oriented vector control method incorporating a friction torque observer and the corresponding compensation algorithm is proposed to control a sinusoidal permanent magnetic synchronous motor （PMSM） for driving the CMG gimbal. In the control loop, the stability and the dynamic performance of the CMG gimbal drive system can be improved effectively by compensating for the friction torque.

关 键 词：控制力矩陀螺 力矩精度 框架速度稳定度 矢量控制 摩擦力矩 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计] V448.22