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Anti-interference control method of control moment gyro frame servo system

A technology for controlling torque gyroscopes and servo systems, applied in the field of servo system control, can solve problems such as low control accuracy, achieve strong anti-interference ability, reduce chattering phenomenon, and ensure high-precision torque output

Active Publication Date: 2019-11-15
BEIHANG UNIV
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: aiming at the multi-source interference received by the CMG frame servo system in the actual working process, provide an anti-interference control method for controlling the moment gyro frame servo system, and solve the problem caused by the interference torque of the CMG frame system during the working process. To solve the problem of low control accuracy, improve the output torque accuracy of the control torque gyro and realize high-precision attitude control of the spacecraft, which has the advantages of strong engineering practicability and high anti-interference

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0043] The steps of an anti-interference control method for controlling a moment gyro frame servo system of the present invention are as follows:

[0044] Such as figure 2 , 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 relevant sample information such as stator inductance, stator resistance, and moment of inertia of the frame servo system. According to the mechanics principle and circuit theorem, Establish a dynamic model of the control torque gyro frame servo system including high-frequency vibration interference caused by rotor dynamic unbalance, friction torque, motor torque perturbation, and unmodeled dynamic multi-source interference; Establish a disturbance model based on the high-f...

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Abstract

The invention relates to an anti-interference control method of a control moment gyro frame servo system, and aims at the problems of high-frequency vibration interference, friction moment, motor moment perturbation and unmodeled dynamic multi-source interference caused by rotor dynamic unbalance of the control moment gyro frame servo system. The anti-interference control method comprises the following steps of firstly, establishing a dynamic model of the control moment gyro frame servo system containing high-frequency vibration interference, friction moment, motor moment perturbation and unmodeled dynamic multi-source interference caused by rotor dynamic unbalance; secondly, establishing an interference model for high-frequency vibration interference caused by rotor dynamic unbalance anddesigning a harmonic interference observer to estimate the harmonic interference observer; then, designing an integral sliding mode controller in a feedback channel to inhibit friction moment, motor moment perturbation and unmodeled dynamic, and finally finishing anti-interference control of the control moment gyro frame servo system. The anti-interference control method of the control moment gyroframe servo system has the advantages of strong engineering practicability, high anti-interference performance and the like.

Description

technical field [0001] The invention belongs to the field of servo system control, in particular to a control moment gyroscope (CMG, control moment gyroscope) frame servo system interference suppression control method. Background technique [0002] With the expansion of the application scope and performance improvement of spacecraft, higher requirements are put forward for the attitude control system (ACS, Attitude Control System). success or failure of the task. For the spacecraft attitude control system, a suitable actuator is an indispensable part of the spacecraft to perform tasks. The commonly used actuators include jet thrusters, momentum wheels, and control moment gyroscopes. Compared with the momentum wheel, the output torque of the CMG is much greater than that of the momentum wheel (usually hundreds of times), and has a higher energy efficiency ratio; compared with the jet thruster, the CMG can provide both large control torque and It can output torque accurately...

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Application Information

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IPC IPC(8): G05B11/32G05B11/42
CPCG05B11/32G05B11/42
Inventor 郭雷崔洋洋乔建忠朱玉凯许昱涵
Owner BEIHANG UNIV
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