双框架磁悬浮控制力矩陀螺框架系统的扰动抑制  

Disturbance rejection for the DGMSCMG’s gimbal system

作　　者：李海涛[1,2] 侯林 韩邦成[1,2] LI Hai-tao;HOU Lin;HAN Bang-cheng(School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;Fundamental Science on Novel Inertial Instrument and Navigation System Technology Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China)

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191 [2]北京航空航天大学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：《光学精密工程》2019年第4期868-878,共11页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.61773038);国家重点研发计划资助项目(No.2018YFB0905503)

摘　　要：内外框架之间的耦合力矩和谐波减速器的非线性传输力矩是影响双框架磁悬浮控制力矩陀螺(DGMSCMG)框架系统精确角速度控制的主要因素,为了解决以上干扰问题,实现框架系统高精度角速率伺服控制提出了一种基于扰动观测器和自适应反步的框架系统复合解耦控制方法。通过扰动观测器来估计框架系统中的扰动,并结合自适应反步法获得控制律,其间将扰动估计误差当作未知参数设计了其自适应律,对扰动的两次处理使得框架系统干扰估计更加精确,同时可以保证估计参数的收敛性和整个框架系统的稳定性。仿真和实验结果表明,采用此复合控制方法,DGMSCMG框架系统扰动估计误差不超过框架系统实际扰动的3%,实际框架角速率跟踪参考指令角速率的精度达到99.2%。此复合解耦控制方法可以满足DGMSCMG框架系统抗干扰能力强、高精度角速率伺服控制的要求。Coupling moments and nonlinear transmission torques are the main factors that influence the precise angular speed control for a gimbal system of double-gimbal magnetically suspended control moment gyro with harmonic drives. Therefore, a composite decoupling control method based on a disturbance observer and adaptive backstepping control was presented to address this problem and to achieve high precision angular speed servo control of the gimbal system. Disturbances were estimated by the designed disturbance observer, and the control law was derived from the adaptive backstepping method. In addition, adaptive laws of disturbance estimation errors, which were regarded as uncertain parameters, were designed using the adaptive backstepping method to make the disturbance estimation more precise. In addition, the convergence of the estimated parameters and the stability of the overall system could be guaranteed. Both simulation and experimental results indicate that the proposed control method generated a disturbances estimation error of less than 3%, where the angular speed tracking precision of the gimbal system achieved 99.2%. The proposed method can satisfy the system requirements of good disturbance attenuation performance and high-precision angular speed control performance.

关 键 词：双框架磁悬浮控制力矩陀螺 框架角速率伺服控制 谐波减速器 扰动观测器 自适应反步法 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]