Moment control gyro frame disturbance moment restraining method

A torque gyro and disturbance torque technology, applied in the field of torque suppression and control torque gyro frame disturbance torque suppression, can solve the problems of large fluctuation range of disturbance torque, complex components, and no high-frequency disturbance torque suppression method, so as to improve control performance. , the effect of strong inhibitory ability

Active Publication Date: 2013-11-27
BEIJING INST OF CONTROL ENG
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Problems solved by technology

The disturbance torque of the frame servo system has large fluctuations and complex components
At present, there are few researches on the suppression method of high

Method used

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  • Moment control gyro frame disturbance moment restraining method
  • Moment control gyro frame disturbance moment restraining method
  • Moment control gyro frame disturbance moment restraining method

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[0022] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0023] Such as figure 1 As shown, the suppression method of the present invention includes a robust control step, an angular acceleration interference observation step, and a repeated control step;

[0024] The robust control steps are as follows:

[0025] (1) The position controller calculates the position information of the moment gyro frame according to the set speed, and makes a difference between the calculated position information and the actual position information of the moment gyro frame measured by the angular position sensor, thereby calculating the position deviation obtained from the difference The speed setting signal of the terminal sliding mode speed controller; the transfer function of the position controller is: G p (s)=k p_p +k d_p ·S

[0026] (2) The terminal sliding mode speed controller calculates the voltage signal according to the speed ...

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Abstract

The invention discloses a moment control gyro frame disturbance moment restraining method. The disturbance moment is a main factor for influencing the control accuracy of a moment control gyro frame system. In the prior art, the restraining capacity to the large low-frequency disturbance moment is insufficient, the restraining capacity to the high-frequency disturbance is obviously insufficient, and the key problem which restrains the continuous improvement on the frame control accuracy exists. According to the moment control gyro frame disturbance moment restraining method, robust control, angle accelerated speed disturbance observation and repeated control are used for achieving effective restraining on the non-linear low-frequency disturbance moment led in through the factors such as the gyro moment, and particularly, the high restraining capacity on the high-frequency disturbance moment led in through the unbalanced vibration of a rotor is achieved. Compared with the prior art, the moment control gyro frame disturbance moment restraining method can further improve the moment control gyro frame control performance.

Description

technical field [0001] The invention relates to a torque suppression method, in particular to a control torque gyro frame disturbance torque suppression method, which is applicable to various control torque gyro products and belongs to the technical field of control engineering. Background technique [0002] The control moment gyroscope is one of the inertial execution components of the spacecraft. It is mainly used in the attitude control of large spacecraft and the rapid maneuvering of small and medium-sized spacecraft, and has broad development prospects. With the development of aerospace technology, as a key executive component of the attitude control system, the control accuracy of the control moment gyroscope frame speed directly affects the output torque accuracy of the control moment gyroscope, and is one of the most critical indicators of the control moment gyroscope. A high-performance robust controller is the goal pursued by every control system. Similarly, the ro...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 鲁明李刚张激扬武登云李连香翟百臣田利梅胡跃伟马文栋
Owner BEIJING INST OF CONTROL ENG
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