Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model

A technology for controlling torque gyroscopes and harmonic reducers, applied in general control systems, control/regulation systems, adaptive control, etc. Problems such as high rate noise

Active Publication Date: 2013-12-25
安徽华驰动能科技有限公司
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to overcome the problems of large output frame angular rate noise and low control precision of the existing dual-frame control torque gyro frame system, and provide the non-direct measurement of the

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  • Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model
  • Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model
  • Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model

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[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] The basic principle of the present invention is: in order to have the ability to output large torque, the double-frame control torque gyro frame servo system installs a harmonic reducer capable of increasing the output torque in the frame system. The flexible link of the harmonic reducer will cause the output torque of the flexwheel to have hysteresis characteristics and affect the accuracy of the system. This is a characteristic of its own structure and cannot be eliminated from the harmonic reducer itself. The present invention establishes the torsional rigidity hysteresis model of the harmonic reducer in the frame system off-line, and then applies the model to the frame system online to compensate the system in real time to improve the accuracy of the system.

[0028] The principle of establishing the torsional stiffness hysteresis mo...

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Abstract

The invention provides a double-frame control moment gyro high-precision frame rate servo system based on a harmonic reducer torsional rigidity hysteresis model. The double-frame control moment gyro high-precision frame rate servo system comprises a rate loop controller, a current loop controller, a power amplifier, a moment motor, a motor side photoelectric encoder, a harmonic reducer, a load side photoelectric encoder, a load, the harmonic reducer torsional rigidity hysteresis model and a compensation module, wherein the harmonic reducer torsional rigidity hysteresis model obtains an ideal input moment for restraining the hysteresis effect of the harmonic reducer by collecting torsion angle information at the current moment and historical moments; the compensation module changes a current to provide moment compensation for the system by contrasting the ideal input moment with an actual input moment. On the basis of the double-frame control moment gyro high-precision frame rate servo system, the harmonic reducer torsional rigidity hysteresis model is added for establishment and compensation, and therefore the effect, caused by the torsional rigidity hysteresis characteristic of the harmonic reducer, on the system accuracy can be reduced beneficially.

Description

technical field [0001] The invention belongs to the field of high-precision low-speed servo control based on a harmonic reducer, and specifically relates to a double-frame control torque gyro high-precision frame rate servo system based on a harmonic reducer torsional stiffness hysteresis model. The impact on system accuracy caused by the torsional stiffness hysteresis characteristics of the reducer. Background technique [0002] In order to have the ability to output large torque, the dual frame control torque gyro frame servo system needs to install a transmission device that can increase the output torque in the frame system. Because of its small size, light weight, large transmission ratio and high transmission efficiency, harmonic reducers are widely used in space technology, radar communication, energy, machine tools, instruments, robots, precision optical equipment, medical equipment and other fields. Studies have shown that the flexible link of the harmonic reducer ...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 李海涛陈萌
Owner 安徽华驰动能科技有限公司
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