Extended high-gain observer based disturbance estimation method for gyrowheel system
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A technology of high-gain observer and gyro flywheel, applied in the field of inertial navigation
Inactive Publication Date: 2016-03-02
HARBIN INST OF TECH
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[0005] In order to solve the dynamic disturbance estimation problem of the gyro flywheel in the working state of a large tilt angle, the present invention proposes a method for estimating the disturbance of the gyro flywheel system based on an extended high-gain observer, comprising the following steps:
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specific Embodiment approach 1
[0083] Embodiment 1: In this embodiment, the method for estimating the disturbance of the gyro-flywheel system based on the extended high-gain observer is implemented according to the following steps:
[0084] Step 1, according to the dynamic equation of the gyro flywheel system, establish the state equation of the gyro flywheel system containing unknown disturbance;
[0085] Step 2. Design an extended high-gain observer according to the state equation of the gyro-flywheel system containing unknown disturbances;
[0087] Step 4, realize the disturbance estimation of the gyro flywheel system.
specific Embodiment approach 2
[0088] Specific embodiment two: the difference between this embodiment and specific embodiment one is: it is characterized in that, described step one contains the gyro flywheel system state equation of unknown disturbance and realizes according to the following steps:
[0089] The tilt angle of the gyro flywheel rotor in the two-dimensional direction (φ x ,φ y ) and roll angular velocity As state variable x: x = x 1 x 2 x 3 x 4 T = φ x ...
specific Embodiment approach 3
[0116] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that it is characterized in that the design of the extended high-gain observer in step two is realized according to the following steps:
[0117] Using the measurement equation y=Cx, realize the state variable x and the nonlinear disturbance term σ d For the estimation of (x,t), the extended high-gain observer is designed as follows:
[0118] x ^ · = A x ^ + B [ f ( ...
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Abstract
The invention provides an extended high-gain observer based disturbance estimation method for a gyrowheel system, belongs to the field of inertial navigation and aims to solve the problem about dynamic disturbance estimation of a gyrowheel rotor in a large heeling angle working state. The method comprises the following steps: step 1, a gyrowheel system state equation containing unknown disturbance is established according to a kinetic equation of the gyrowheel system; step 2, an extended high-gain observer is designed according to the gyrowheel system state equation containing unknown disturbance; step 3, observation error convergence is verified and an observer design parameter epsilon is adjusted; step 4, disturbance estimation of the gyrowheel system is performed. The extended high-gain observer based disturbance estimation method is applicable to disturbance estimation of the gyrowheel system.
Description
technical field [0001] The invention is a gyro flywheel system disturbance estimation method based on an extended high-gain observer, and specifically relates to the field of inertial navigation. Background technique [0002] The gyro flywheel is an electromechanical servo device with the functions of actuator and sensor used in spacecraft. It is developed based on the physical structure of the traditional inertial instrument—dynamically tuned gyroscope. However, the obvious difference between the gyro flywheel and the dynamic tuning gyroscope is that the gyro flywheel not only realizes the same two-dimensional carrier angular rate measurement function as the dynamic tuning gyroscope, but also realizes the three-dimensional control torque output function. In order to realize the three-dimensional torque output function of the gyro flywheel, the rotor of the gyro flywheel needs to produce a large-angle tilting motion in the two-dimensional radial direction, and needs to produ...
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