直驱型VICTS卫星通信天线的多层电机容错控制算法  

Multilayer motor fault-tolerant control algorithm for direct-drive VICTS satellite communication antennas

作　　者：禹新路 王丹 张鹏启 YU Xinu;WANG Dan;ZHANG Pengqi(Googol Paradox(DG)Intelligent Technology Co.,Ltd.,Dongguan 523083,China;Division of Advanced Manufacturing,Shenzhen International Graduated School,Tsinghua University,Shenzhen 518055,China;College of Mechanical and Electrical Engineering,Guangdong University of Science and Technology,Dongguan 523083,China;School of Mechanical and Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]固高派动(东莞)智能科技有限公司,东莞523083 [2]清华大学深圳国际研究生院先进制造学部,深圳518055 [3]广东科技学院机电工程学院,东莞523083 [4]河南工业大学机电工程学院,郑州450001

出　　处：《现代制造工程》2024年第6期145-153,共9页Modern Manufacturing Engineering

基　　金：广东省重点建设学科科研能力提升项目(2022ZDJS148);东莞市社会发展科技面上项目(20231800937802);广东科技学院自然科学科研项目(GKY-2022KYYBK-11)。

摘　　要：针对载体冲击造成直驱型VICTS卫星天线的多层同轴系统功能层运动失控的问题,进行了失控现象故障容错控制算法研究。首先对多层同轴直驱伺服系统进行数学模型及系统组成分析;其次基于失控层的运动状态和冲击故障发生条件,提出一种新型针对冲击故障的容错控制算法,该算法包括3个部分,即失控发生时根据当前失控层状态规划新的运动状态、失控恢复后平稳切换到原规划状态及采用实时速度预测补偿控制系统延时;最后设计相应实验分别验证了所提出的故障容错控制系统针对故障发生在加速段、匀速段和减速段的有效性以及针对上下层多种工况状态下的有效性。研究对提高动中通卫星天线的抗扰动能力有重要参考意义。Aiming at the problem of the uncontrolled motion of the functional layer of the multilayer coaxial system of the direct-drive VICTS satellite antenna caused by the carrier impact,a fault-tolerant control algorithm for the rampant phenomenon was carried out.Firstly,the mathematical model and system composition of the multilayer coaxial direct-drive servo system were ana-lyzed.Secondly,based on the motion state of the out-of-control layer and the conditions of the impact fault,a new type of fault-tolerant control algorithm for impact faults was put forward,which consists of three parts,that is planning the new motion state according to the current state of the out-of-control layer when the out-of-control occurs,smoothly switching to the original condi-tion after the out-of-control was recovered,and adopting the real-time speed to predict and compensate control system delay.Fi-nally,corresponding experiments were designed to verify the effectiveness of the proposed fault-tolerant control system for faults occurring in the acceleration,uniform speed,and deceleration segments,as well as for the upper and lower layers under various working conditions.The research is of great reference significance for improving the disturbance resistance of satellite antennas.

关 键 词：VICTS卫星通信天线 容错控制 冲击故障 运动规划 控制系统延时补偿 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]