A Disturbance Suppression Method for Controlling Moment Gyroscope Frame System Based on Discrete Nonlinear Cascaded Extended State Observer

Abstract

The present invention provides a control moment gyro gimbal system disturbance inhibition method based on a discrete non-linear cascading expansion state observer. The method comprises the steps of: establishing a double-frame servo system kinetic model, converting the double-frame servo system kinetic model to a system equation meeting an integration chain form of construction of a cascading expansion state observer (CESO) through conversion of coordinates, selecting an appropriate non-linear function to construct a discrete non-linear cascading expansion state observer (NCESO) to obtain theestimation of lumped disturbance, and combining an appropriate sliding mode controller to eliminate the influence of the lumped disturbance from the output channel of the system. The method solves theproblem that the parameters are difficult to be configured when a traditional expansion state observer is high in the number of orders, improves the estimation precision of the linear cascading expansion state observer, achieves the high-precision angular rate tracking control of a frame servo system and can be applied to the projects having uncertain interference.

Description

Technical field [0001] The invention belongs to the control field of a dual-frame magnetic levitation control CMG frame servo system, and specifically relates to a control moment gyro frame system disturbance suppression method based on a discrete nonlinear cascade expansion state observer, which is used to improve the interference suppression ability of the frame system and realize The high-precision angular rate tracking control of the frame servo system realizes the high-precision torque output of the control moment gyro. Background technique [0002] A spacecraft attitude control system generally includes three parts: attitude sensor, attitude controller and actuator. Spacecraft attitude actuators are divided into three categories: thrusters, environmental moment actuators, and inertial actuators. Inertial actuators output control torque by changing the magnitude (flywheel) or direction (control torque gyro) of the high-speed rotor angular momentum. It has the characteristic...

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Problems solved by technology

[0004] In order to solve the problem that the angular rate accuracy of the frame system is reduced due to the above-mentioned mismatching interference, the simplified feedback linearization control method based on the mode separation method can decouple the double-frame maglev CMG system, but requires an accurate mathematical model; the differential geometric decoupling method The dual-frame maglev CMG system can be decoupled, but the influence of the coupling torque cannot be completely eliminated; as an effective disturbance estimation technique, the extended state observer (ESO) expands the lumped disturbance into a new state of the system. However, if the system state equation If the order is greater than 2, it is difficult to configure ESO parameters that meet the system accuracy requirements in practical applications; cascaded ESO (CESO) simplifies the adjustment of ESO parameters to the adjustment of two parameters, and CESO is divided into linear CESO and non-linear CESO. Linear CESO

In a Chinese patented method for parameter optimization of a dual-frame maglev CMG frame system based on a reduced cascaded extended state observer (patent number: 201810420964.X), the continuous linear reduced cascaded extended state observer is used for interference estimation, and the linear CESO The design is relatively simple, but the estimation effect of the observer is not as good as the nonlinear CESO

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