CMG框架超低速无电流环矢量控制研究  

Ultra‑low Speed Non‑current Loop Field‑Oriented Control Research for Control Moment Gyroscope Gimbal System

作　　者：陈雷[1] 潘松[1] 徐张凡 李华峰[1] 申友涛 CHEN Lei;PAN Song;XU Zhangfan;LI Huafeng;SHEN Youtao(State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and AstronauticsNanjing,210016,China;Shanghai Engineering Technology Research Center of Inertia,Shanghai Institute of Spaceflight Control TechnologyShanghai,201100,China)

机构地区：[1]南京航空航天大学机械机构力学及控制国家重点实验室,南京210016 [2]上海航天控制技术研究所上海惯性工程技术研究中心,上海201100

出　　处：《振动．测试与诊断》2024年第3期594-601,625,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(51575260,52277055);精密转动和传动机构长寿命技术北京市重点实验室基金资助项目(BZ0388201804)。

摘　　要：针对控制力矩陀螺框架在超低速工况下存在转速测量精度低、多源扰动力矩及非线性摩擦等问题,提出了基于无电流环矢量控制的超低速驱动控制方法。首先,建立超低速工况下的框架电机的机电模型,设计了无电流环磁场矢量控制器(field-oriented control,简称FOC);其次,针对转速测量精度的问题,设计了转速观测器作为反馈环节。结果表明,与方波驱动法相比,该方法无换相转矩,提高了转速测量精度,且在面对多源扰动、非线性摩擦时具有鲁棒性。仿真和实验结果验证了该方法的可行性和有效性。When gimbal system works at ultra-low speed,nonlinear friction,multi-source disturbance and accuracy degradation of the sensor are the main constraints that influence the angular precision of the gimbal system and even cause crawling and jitter.In this paper,an ultra-low speed control strategy for the control moment gyroscope gimbal system based on non-current loop field-oriented control(FOC)is proposed to solve the problem.Firstly,an electromechanical model of ultra-low speed brushless DC motors is established and a non-current loop FOC controller is designed.Then a filtering observer is introduced to compensate the impulsive noise by sensor.Simulation and experimental results validate the feasibility and effectiveness of the proposed method.It exhibits robustness against multi-source disturbances and nonlinear friction,thereby enhancing the angular precision of the gimbal system.

关 键 词：控制力矩陀螺 磁场矢量控制 卡尔曼滤波 框架控制 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]