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

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 ...

AI Technical Summary

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 input torque of the harmonic reducer in the frame system The solution to the problem provides a double-frame control moment gyro high-precision frame rate servo system based on the torsional stiffness hysteresis model of the harmonic reducer. System Accuracy Impact

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