估计力矩反馈在CMG框架伺服系统中的应用  

Application of Estimated Torque Feedback in CMG Gimbal Servo System

作　　者：陈彦鹏[1,2] 韩邦成[1,2] 李海涛[1,2] 杨莲慧[1,2] 

机构地区：[1]北京航空航天大学惯性技术重点实验室,北京100191 [2]新型惯性仪表与导航系统技术国防重点学科实验室,北京100191

出　　处：《载人航天》2012年第6期62-68,共7页Manned Spaceflight

基　　金：国家杰出青年科学基金(60825305);国家"973"计划(2009CB72400103)

摘　　要：磁悬浮控制力矩陀螺(Control Moment Gyro,CMG)框架伺服系统的速率精度直接决定了陀螺输出力矩的精度。针对谐波减速器非线性扭转刚度引起框架系统速率精度低的问题,提出了一种基于估计力矩反馈抑制速率波动的控制方法。首先建立了带有非线性扭转刚度的框架系统动力学模型,提出一种基于离散非线性跟踪微分器估计角加速度并进行力矩反馈的方法。然后在Matlab中进行仿真分析,并在单框架磁悬浮CMG上进行试验。试验结果表明,加入估计力矩反馈后,系统动态响应性能得到提高,超调减小;框架角速率给定为10°/s时,速率波动量降低了42%。该方法可有效的提高CMG输出力矩的精度。The speed precision of magnetically suspended control moment gyro （CMG） gimbal servo system determines its torque precision. In allusion to the problem that the harmonic drive non-linear torsional stiffness could reduce the speed precision, a feedback control algorithm based on estimated torque is presented. The system dynamic model with nonlinear torsional stiffness is established and a method is proposed to estimate angular acceleration through nonlinear tracking differentiator and carry out torque feedback. The simulation model of gimbal servo system is achieved in Matlab and experiments are carried out on single gimbal magnetically suspended CMG. Experimental results indicate that the method can improve the system dynamic performance with small overshoot and the speed fluctuation is reduced by 42% when the speed given is 10°/s. This method can effectively increase the CMG torque precision.

关 键 词：谐波减速器 非线性扭转刚度 估计力矩反馈 控制力矩陀螺 

分 类 号：TP275[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]