Magnetic levitation control moment gyroscope frame rate servo system and control method

A technology for controlling torque gyroscopes and servo systems, which is applied in the directions of space navigation aircraft guidance devices, space navigation equipment, space navigation aircraft, etc., and can solve the problems of harmonic reducer output torque that cannot be directly measured, and low angular rate servo accuracy.

Active Publication Date: 2020-08-25
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 of low angular rate servo accuracy of the existing magnetic levitation control moment gyro frame system, and to provide a solution that the output torque of the harmonic reducer in the frame system cannot be directly measured. The present invention provides a A magnetic levitation control torque gyro high-precision frame rate servo system based on the nonlinear torque transmission model of the harmonic reducer. The built system is conducive to reducing the angular rate output of the frame system caused by the nonlinear torque transmission characteristics of the harmonic reducer The effect of precision

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  • Magnetic levitation control moment gyroscope frame rate servo system and control method
  • Magnetic levitation control moment gyroscope frame rate servo system and control method

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Embodiment Construction

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0077] Such as figure 1 As shown, a high-precision frame rate servo system of magnetic levitation control torque gyroscope based on the nonlinear transmission torque model of the harmonic reducer includes a rate loop controller, a current loop controller, a drive, a torque motor, a photoelectric encoder at the motor end, and a harmonic Wave reducer, load-side photoelectric encoder, load, harmonic reducer nonlinear transmission torqu...

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Abstract

The invention provides a magnetic levitation control moment gyroscope frame rate servo system and a control method. The system comprises a rate loop controller, a current loop controller, a driver, amoment motor, a motor end photoelectric coded disc, a harmonic reducer, a load end photoelectric coded disc, a load, a harmonic reducer nonlinear transmission moment model calculation module and a compensation module. The harmonic reducer nonlinear transmission moment model calculation module is used for establishing a friction model of a system, identifying parameters, analyzing each energy in the system, and deducing to obtain a transmission moment model by applying an energy conservation law; and the compensation module realizes moment compensation by changing a current at an output end ofthe current loop controller. On the basis of the magnetic levitation control moment gyroscope frame servo system, construction and compensation of a harmonic reducer nonlinear transmission moment model are added, and angular rate servo precision of the frame system can be obviously improved.

Description

Technical field [0001] The invention belongs to the field of high-precision low-speed servo control based on a harmonic reducer, and specifically relates to a high-precision frame rate servo system of a magnetic levitation control torque gyroscope based on a nonlinear transmission torque model of a harmonic reducer, which is used to reduce the harmonic reducer The adverse effects brought by the nonlinear torque transmission characteristics can realize the high-precision angular rate output of the magnetic levitation control torque gyroscope frame system. Background technique [0002] Control moment gyroscope (CMG) and inertial momentum wheel (IMW) are the main inertial actuators of spacecraft. Among them, the magnetic levitation control moment gyroscope has the advantages of large output torque, good dynamic performance, and high control accuracy. It is the preferred actuator for spacecraft attitude control. The frame servo system is an important part of the magnetic levitation ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/28
CPCB64G1/286B64G1/245
Inventor 李海涛于江坤郑世强韩邦成周新秀
Owner BEIHANG UNIV
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