基于简化FXLMS算法的磁悬浮控制力矩陀螺动框架效应精确补偿方法实验研究  

Experimental Research on Accurate Compensation of Moving-Gimbal Effects Based on Simplified FXLMS Algorithm in Magnetically Suspended Control Moment Gyroscope

作　　者：霍甲[1] 魏彤[1] 房建成[1] 

机构地区：[1]"新型惯性仪表与导航系统技术"国防重点学科实验室,北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《宇航学报》2010年第3期786-792,共7页Journal of Astronautics

基　　金：国家自然科学基金资助(60704025)

摘　　要：磁悬浮控制力矩陀螺(MSCMG)是一种用于航天器姿态控制的高精度长寿命惯性执行机构,动框架效应补偿是MSCMG实现高精度性能的关键技术之一。然而现有的FXLMS补偿算法由于模型复杂、计算量大而难以实际应用。通过分析MSCMG磁轴承对象特性,提出一种简化FXLMS算法,将对象滤波器简化为常数对角阵,大幅度减少了算法计算量。对简化算法进行了仿真,并在MSCMG样机上面进行了动框架效应补偿实验。实验结果表明:简化后的自适应控制系统,收敛性好,跟踪速度快,具有理想的精度和较强的鲁棒性。Magnetically Suspended Control Moment Gyroscope （MSCMG） is a kind of high precision long life torque producing actuator which is usually used in spacecraft. Accurate compensation of moving-gimbal effects is one of the key technologies in high precision MSCMG. But complex model and much higher computation cost has limited its application. Through analyzing object properties,this paper presents a simplified FXLMS algorithm. In this algorithm,the object filter is replaced by constant diagonal matrix. As a result,the computation cost decreases greatly. The simulation and experiment are presented to verify the method. The experimental results indicate that the adaptive control system based on simplified FXLMS algorithm has the property of good convergence,fast response,enough precision and strong robustness.

关 键 词：磁轴承 控制力矩陀螺 动框架效应 FXLMS 收敛性 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] V448.22[自动化与计算机技术—控制科学与工程]