二自由度控制力矩陀螺姿态稳定性优化控制研究  

Research on Attitude Stability Optimization Control of a 2-DOF Control Moment Gyroscope

作　　者：李子逍 韩光信[1] LI Zixiao;HAN Guangxin(College of Information and Control Engineering,Jilin of Chemical Technology,Jilin 132022,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022

出　　处：《河南科技》2023年第12期9-13,共5页Henan Science and Technology

摘　　要：【目的】对控制力矩陀螺(CMG)外框架路径跟踪存在的强耦合性和外部干扰等问题,提出一种基于非线性滑模控制的姿态稳定优化算法。【方法】根据建立的二自由度CMG动力学模型来推导出标准的仿射形式,利用李导数(Lie derivative)来明确输入和输出关系。将设计好的滑模控制器应用于CMG外框架角度跟踪指定的参考轨迹中,使用功率趋近律来减小抖振影响,并通过设计李雅普诺夫函数来确保其闭环稳定性。【结果】Matlab仿真结果表明,使用非线性滑模控制器能有效控制CMG的非线性、强耦合性和不确定性等,同时可使CMG外框架的角速度保持稳定,证明滑模控制CMG的可行性。【结论】设计出的滑模控制器能满足CMG外框架姿态调节和渐进稳定的要求,对比试验结果表明,在相同条件下,滑模控制的控制精度和鲁棒性要优于自适应控制和串级PID控制。[Purposes]Aiming at the problems of strong coupling and external interference in the path tracking of the outer frame of control moment gyroscope(CMG),an attitude stability optimization algo⁃rithm based on nonlinear sliding mode control is proposed.[Methods]According to the established twodegree-of-freedom CMG dynamic model,the standard affine form is derived,and the Lie derivative is used to clarify the relationship between the input and the output.The designed sliding mode controller is applied to the specified reference trajectory of CMG outer frame angle tracking.The power reaching law is used to reduce the chattering effect,and the Lyapunov function is designed to ensure its closedloop stability.[Findings]Matlab simulation results show that the nonlinear sliding mode controller can effectively control the nonlinearity,strong coupling and uncertainty of CMG,and can keep the angular ve⁃locity of CMG outer frame stable,which proves the feasibility of sliding mode control CMG.[Conclusions]The designed sliding mode controller can meet the requirements of attitude adjustment and asymptotic stability of CMG outer frame.The comparison test results show that the control accuracy and robustness of sliding mode control are better than those of adaptive control and cascade PID control under the same conditions.

关 键 词：控制力矩陀螺 不确定性 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]