控制力矩陀螺框架伺服系统的超低速测速方法  

Ultra-low speed detection method for CMG gimbal servo systems

作　　者：鲁明[1,2] 李耀华[1] 张激扬[2] 翟百臣[2] 

机构地区：[1]中国科学院电力电子与电气驱动重点实验室,北京100190 [2]北京控制工程研究所,北京100190

出　　处：《中国惯性技术学报》2012年第2期234-238,共5页Journal of Chinese Inertial Technology

基　　金：国家高技术研究发展计划(863计划)(2008AA121002);载人航天领域预先研究项目(020106)

摘　　要：在超低转速下,有限的转速测量分辨率是影响控制力矩陀螺框架伺服系统控制性能的一个重要因素。在分析转速分辨率对超低速控制性能影响的基础上,提出了一种基于多周期后向差分的转速计算方法,可提高测速分辨率并保证测速带宽。针对后向差分带来的相位延迟会限制测速分辨率进一步提高的问题,在选取合适的差分周期基础上,采用Kalman预估器对框架转速进行预估,进一步提高了框架转速的测速分辨率及测速带宽。通过仿真表明,所提出的测速方法将转速分辨率提高了两个数量级,解决了框架伺服系统在超低转速下由于有限的转速测量分辨率造成的爬行现象。At ultra-low speed, the gimbal speed resolution is limited, and this could significantly influence the speed control of control moment gyro （CMG） gimbal servo system. Based on the analysis about the influence, a multicycle backward speed difference method is proposed to increase the gimbal speed resolution and maintain the speed bandwidth. But the detection phase delay produced by multicycle backward difference restricts further improvement of speed resolution. Therefore, based on proper difference cycle, a Kalman estimation is introduced to further increase the gimbal speed resolution and the bandwidth. Simulation results demonstrate that the speed resolution is increased by two orders of magnitude by the proposed methods, and the creeping phenomenon of gimbal servo system caused by limited gimbal speed resolution is avoided.

关 键 词：控制力矩陀螺 框架 超低转速 转速分辨率 

分 类 号：U666.1[交通运输工程—船舶及航道工程]