Magnetically suspended control moment gyroscope framework angular rate servo system based on harmonic reducer

A technology for controlling torque gyroscopes and harmonic reducers. It is applied in the direction of electric speed/acceleration control. It can solve the problem of low output rate accuracy and achieve the effects of small size, light weight, and improved environmental adaptability.

Active Publication Date: 2018-05-04
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: to overcome the problem that the output rate accuracy of the existing magnetic suspension control torque gyro angula

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  • Magnetically suspended control moment gyroscope framework angular rate servo system based on harmonic reducer
  • Magnetically suspended control moment gyroscope framework angular rate servo system based on harmonic reducer
  • Magnetically suspended control moment gyroscope framework angular rate servo system based on harmonic reducer

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] Such as figure 1 As shown, a magnetic levitation control torque gyro frame angular rate servo system based on a harmonic reducer, including a controller 1, a power amplifier 2, a torque motor 3, a linear Hall sensor 4, a rotor position calculation module 5, and a harmonic reducer 6. Magnetic levitation control torque gyro frame system load 7, resolver 8, angular position calculation module 9, cascaded expansion state observer 10; among them, the controller 1 adopts a compound control algorithm based on the combination of state feedback and disturbance compensation to generate control The signal outputs the actual control current to the torque motor 3 through the power amplifier 2, and the linear Hall sensor 4 installed at the end of the torque motor is used to measure the relevant information of the rotor position of the torque motor, an...

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Abstract

The invention provides a magnetically suspended control moment gyroscope framework angular rate servo system based on a harmonic reducer. The magnetically suspended control moment gyroscope frameworkangular rate servo system comprises a controller, a power amplifier, a moment motor, a motor end linear Hall sensor, the harmonic reducer, a load, a load end rotating transformer and a cascade expansion state observer, wherein the controller controls an output and angular position of a load end as an input signal of the cascade expansion state observer; additional control information generated bythe cascade expansion state observer is compensated into the controller; the linear Hall sensor is arranged at the end of the moment motor and accurate rotor position information of the moment motor is obtained by resolving; the moment motor is fixedly connected with the input end of the harmonic reducer; an output moment of the harmonic reducer acts on the load; the rotating transformer is arranged at the load end and is used for measuring the angular position of the load end. The magnetically suspended control moment gyroscope framework angular rate servo system provided by the invention canrealize high-precision framework angular rate servo control.

Description

technical field [0001] The invention belongs to the field of angular rate servo control of magnetic levitation control torque gyro based on harmonic reducer, and specifically relates to a high-precision frame angular rate servo system of magnetic levitation control moment gyro using a composite control algorithm based on cascaded expansion state observers, which is beneficial to Improve the angular rate servo control accuracy of the overall system. Background technique [0002] For the magnetic levitation control torque gyro frame servo system, if the direct drive method is adopted, the volume and weight of the torque motor will increase accordingly. In order to reduce the volume and weight of the frame system, a transmission mechanism is generally used to amplify the motor torque. The harmonic reducer has the advantages of large transmission ratio, high precision, small size, and light weight. It is one of the best choices for controlling the torque gyro frame transmission ...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 李海涛侯林韩邦成郑世强汤继强
Owner BEIHANG UNIV
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