谐波齿轮对大型SGCMG框架转速控制的影响分析  

Influence Analysis of Harmonic Gear to SGCMG Gimbal Rate Control

作　　者：刘宝玉[1] 金磊[1] 贾英宏[1] 

机构地区：[1]北京航空航天大学宇航学院,北京100191

出　　处：《航天控制》2014年第2期23-28,34,共7页Aerospace Control

摘　　要：框架转速控制精度是影响大型单框架控制力矩陀螺(Single Gimbal Control Moment Gyroscope,SGCMG)输出力矩精度的重要因素。谐波齿轮是一种大传动比的减速装置,在大型SGCMG框架伺服系统中加装谐波齿轮提高框架电机的转速,有利于减小框架转速控制偏差。本文分析了大型SGCMG框架电机和谐波齿轮传动的特性,建立了带有谐波齿轮的大型SGCMG动力学模型。数值仿真结果表明加装谐波齿轮可明显改善大型SGCMG框架转速控制精度,特别是框架低速运行时的控制精度,提高大型SGCMG输出力矩精度;但加装谐波齿轮也给框架带来高频谐振。The control precision of gimbal rate is the main factor which affects the output torque accuracy of large-scale single gimbal control moment gyroscope （SGCMG）. Harmonic gear is a deceleration device with high transmission ratio, adding harmonic gear into gimbal servo system of large-scale SGCMG to increase the rotor speed of gimbal motor is helpful to reduce the level of gimbal rate deviation. This paper describes in detail the characteristics of large-scale SGCMG gimbal motor and harmonic gear drive; establishes the dy- namics model of large-scale SGCMG with harmonic gear to analyze the influence of harmonic gear to large- scale SGCMG gimbal rate control, numerical simulation results indicate that harmonic gear significantly improves the gimbal rate control precision of large-scale SGCMG, especially under low gimbal rate condi- tion, and the output torque accuracy of large-scale SGCMG; but harmonic gear simultaneously brings high- frequency resonance to gimbal.

关 键 词：谐波齿轮 框架伺服系统 建模 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]