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Low rotating speed high precision control method of control moment gyro gimbal servo system

A technology for controlling torque gyroscopes and servo systems. It is used in general control systems, control/regulation systems, and adaptive control. It can solve problems such as low control accuracy and achieve the effects of strong anti-interference ability, low conservatism and flexible structure.

Active Publication Date: 2018-07-24
BEIHANG UNIV
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: Aiming at the influence of friction torque and disturbance torque caused by rotor unbalanced vibration in the low-speed working process of the control torque gyro frame servo system, a low-speed control torque gyro frame servo system is proposed. The high-precision control method solves the problem of low control accuracy caused by the disturbance torque of the control torque gyro frame servo system in the low-speed working process, improves the output torque accuracy and response speed of the control torque gyro, and realizes the low speed and high precision of the control torque gyro frame servo system Control, with the advantages of strong engineering practicability and high anti-interference

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  • Low rotating speed high precision control method of control moment gyro gimbal servo system

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] The design steps of the low-speed and high-precision control method for the torque gyro frame servo system described in the present invention are as follows: first, collect relevant parameter sample information in the actual operating environment of the control torque gyro frame servo system, and use the least squares identification algorithm to identify the frame Based on the relevant sample information of the stator inductance, stator resistance, moment of inertia and viscous friction coefficient of the servo system, according to the mechanics principle and circuit theorem, a control torque gyro frame system model containing disturbance torque is established; secondly, the vector control and PI control methods are used to control The control design of the current loop of the torque gyro frame servo system is carried out; again, the dist...

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Abstract

The invention relates to a low rotating speed high precision control method of a control moment gyro gimbal servo system. The method solves the problems of friction interference and a disturbing moment caused by unbalanced rotor vibration of the control moment gyro gimbal servo system in a low speed operation process. The method comprises the steps of establishing a control moment gyro gimbal servo system kinetic model containing the friction interference and an unbalanced rotor vibration interference moment, performing control design on a frame servo system current loop via vector control andPI (proportional-integral) control methods, designing an interference observer to estimate equivalent interference formed by the friction interference and the disturbing moment caused by the unbalanced rotor vibration at a frame servo system speed loop, allowing the interference observer to offset an equivalent interference estimated value via a feedforward channel and designing a composite controller. The method has the advantages of high engineering practicability, high interference immunity and the like.

Description

technical field [0001] The invention relates to a low-speed and high-precision control method for controlling a torque gyro frame servo system. A disturbance observer is used to estimate and analyze the frictional disturbance torque and the disturbance torque caused by the unbalanced vibration of the rotor in the low-speed working process of the control torque gyro frame servo system. Compensation, so as to improve the anti-interference ability of the control torque gyro frame system, realize the low speed and high precision control of the control torque gyro frame servo system, and improve the output torque accuracy and response speed of the control torque gyro. Background technique [0002] Among the three types of actuators of spacecraft, the control torque gyroscope has the advantages of large output torque, high energy efficiency ratio, and good dynamic performance compared with the traditional flywheel; at the same time, compared with the jet thruster, the control torqu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 乔建忠崔洋洋郭雷朱玉凯张丹瑶
Owner BEIHANG UNIV
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