近空间气球吊篮方位角多电机协同控制模型及分析  

Multi-Motor Azimuth Interoperation Control Model of Near-Space Balloon-Born Gondola and Model Analysis

作　　者：于伟[1] 许苏晓[1] 肖靖[1] 耿夫利[1] 

机构地区：[1]空军勤务学院,江苏徐州221000

出　　处：《微特电机》2013年第8期53-56,共4页Small & Special Electrical Machines

摘　　要：为提高近空间气球吊篮方位控制系统的性能,通过对系统的动力学分析以及电机工作原理的分析,建立了包括反捻机构、吊篮方位控制系统、负载方位控制系统在内的多电机协同工作系统的状态空间模型。从该模型可以发现,系统是一个欠驱动系统,且存在非线性特性及不确定性。对该模型的仿真发现,反捻机构的惯性时间常数对吊篮方位控制系统的性能和机械结构安全有重要的意义。In order to improve performance of the azimuth control system of near-space balloon-born gondola, based on the dynamic analysis of the system and the analysis of motor＇s operating principle, the state-space model of the multi- motor interoperation system was built, which includes the decoupling mechanism, the reaction wheel system and the azi- muth control system of load. It was found through analysis of the model that the system is an underactuated system with non- linear characteristics and uncertainty. The simulation experiment shows that the inertia time constant of the decoupling mechanism is very significant for performance of the azimuth control system of the gondola and safety of its mechanical structure.

关 键 词：气球吊篮 反捻机构 状态空间模型 

分 类 号：TM383.6[电气工程—电机] TM359.6