基于鲁棒调节和目标值滤波的CMG群力矩控制  

Torque Control of CMG Cluster Based on Robust Controller and Target Value Filter

作　　者：夏长峰 蔡远文 任元 王英广[3] XIA Changfeng CAI Yuanwen REN Yuan WANG Yingguang(Department of Graduate Management, Equipment Academy, Beijing 101416, China Department of Space Equipment , Equipment Academy, Beijing 101416, China Beijing Institute of Control Engineering, Beijing 100190, China)

机构地区：[1]装备学院研究生院,北京101416 [2]装备学院航天装备系,北京101416 [3]北京控制工程研究所,北京100190

出　　处：《装备学院学报》2017年第3期86-91,共6页Journal of Equipment Academy

基　　金：国家自然科学基金资助项目(51475472;61403396)

摘　　要：为实现控制力矩陀螺群高精度快响应力矩控制,提出了一种基于鲁棒调节和目标值滤波的控制方法。建立了采用永磁直流无刷力矩电机的框架伺服系统数学模型,根据被控对象的传递函数设计了鲁棒调节器,针对装置状态可观测的特点对鲁棒调节器进行了简化,提出了镇定补偿器和伺服补偿器的关键参数计算方法,实现了转速控制的渐近调节且确保了动态性能指标,并提出采用目标值滤波器进一步加强系统的动态跟踪性能;在此基础上,依托金字塔安装构型的控制力矩陀螺群实现了系统力矩快速精确输出。MATLAB仿真结果表明:所提出的控制算法对1N·m的力矩阶跃信号控制误差较传统比例-积分-微分算法降低了65.7%,响应时间减少了37.2%;对sin(20πt)N·m的正弦力矩跟踪时,可将力矩输出误差稳定在±2.1%之间。In order to realize high-precision and fast-response torque control of Control Moment Gyroscope （CMG） cluster, a control algorithm based on target value filter and robust controller is put forward.The mathematical model of gimbal servo system which adopts permanent magnet brushless direct current torque motor in CMG is set up.The robust controller is designed according to the transfer function of the controlled object, and then it is simplified based on the observable characteristics of the device status.The calculation method of key parameters in stabilizing compensator and servo compensator is proposed.In this way, asymptotic adjustment of rotational speed is achieved and the dynamic performance index is guaranteed.Besides, dynamic tracking performance of the system is further strengthened with the proposed target value filter, on the basis of which,fast and precise system torque output is realized with the pyramidal CMG cluster configuration.MATLAB simulation results show that the control error of 1 N·m step torque is reduced by 65.7% and response time is decreased by 37.2% with the proposed algorithm compared to traditional Proportional-Integral-Differential （PID） method.The error of sin（20πt）N·m sinusoidal torque is stabilized between-2.1% and ＋2.1% with the proposed method.

关 键 词：控制力矩陀螺 目标值滤波 鲁棒调节 框架伺服系统 金字塔构型 高精度快响应控制 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]