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

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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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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