Magnetically suspended control moment gyroscope frame system high-precision angular rate control method based on parameter optimization of extended state observer

Abstract

The invention provides a magnetically suspended control moment gyroscope frame system high-precision angular rate control method based on parameter optimization of an extended state observer. Firstly,a voltage and torque output equation of a magnetically suspended control moment gyroscope frame system is built, a state space expression is built on the basis of the equation and converted into an integral series form to design the extended state observer, and finally lumped interference is eliminated through state feedback. By analyzing estimation errors in the observer, a cost function for estimating the influence degree of the system lumped interference and measurement noise is built to minimize the comprehensive influence of the system lumped interference and the measurement noise, and then an adaptive dynamic parameter optimization method is designed. According to the high-precision angular rate control method, a dynamic parameter optimization method for the extended state observeris proposed, dynamic interference suppression and noise resistance performances of the frame system are improved, and the method can be used for achieving high-precision angular rate control of the magnetically suspended control moment gyroscope frame system.

Description

technical field [0001] The invention belongs to the field of high-precision control of a magnetic levitation control moment gyro frame system based on a parameter optimization observer, and specifically relates to a high-precision angular rate control method of a magnetic levitation control moment gyro frame system based on a parameter optimization expansion state observer, which is used to improve the frame system The interference suppression ability and anti-noise ability can realize the high-precision angular rate tracking control of the frame servo system under the dynamic process, and then realize the high-precision angular rate output of the control torque gyroscope. Background technique [0002] Control Moment Gyro (CMG) and Inertial Momentum Wheel (IMW) are the main inertial actuators. Among them, the magnetic levitation control moment gyro has the advantages of large output torque, good dynamic performance, and high control precision, and has become the preferred ac...

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Problems solved by technology

However, since the parameters of the motor will change during operation, the accuracy of the control method will inevitably be affected

[0005] Extended State Observer (ESO), as an effective disturbance estimation technique, expands the lumped disturbance into a new state of the system, which can effectively avoid the reduction of disturbance estimation accuracy caused by inaccurate motor parameters and models; but the traditional The design method of the extended state observer generally does not consider the influence of measurement noise, but measurement noise will inevitably be generated in the actual system; and the parameter configuration method of the extended state observer mostly adopts the bandwidth configuration method, and the parameter configuration is relatively simple, but this method has Certain shortcomings, such as the change of parameters during the operation of the motor will lead to a decrease in the estimation accuracy of the lumped disturbance, and the influence of measurement noise in the actual system is not fully considered, which will lead to the angular rate output accuracy of the magnetic levitation control torque gyro reduce

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