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High-precision rotating speed measurement method of momentum wheel fused with control voltage at low rotating speed

A technology that integrates control and speed measurement, and is applied in speed/acceleration/shock measurement, linear/angular velocity measurement, measuring devices, etc. It can solve the problems of error and inaccurate feed-forward compensation of time-delay momentum wheel friction torque, etc., so as to reduce the speed The effects of measuring error, improving stability, and improving speed acquisition accuracy

Active Publication Date: 2020-09-08
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0004] The technical problem solved by the present invention is: in view of the current prior art, the measurement of the rotational speed of the momentum wheel by the traditional photoelectric code disc has large errors and time delays at low rotational speeds, which easily leads to inaccurate feed-forward compensation of the frictional torque of the momentum wheel. A high-precision rotational speed measurement method based on the fusion of control voltage at low rotational speeds of momentum wheels is proposed

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  • High-precision rotating speed measurement method of momentum wheel fused with control voltage at low rotating speed
  • High-precision rotating speed measurement method of momentum wheel fused with control voltage at low rotating speed
  • High-precision rotating speed measurement method of momentum wheel fused with control voltage at low rotating speed

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Embodiment Construction

[0030] A high-precision rotational speed measurement method that integrates control voltage at low rotational speeds of momentum wheels. Firstly, by obtaining the initial parameters of the momentum wheel, and then measuring the rotational speed of the momentum wheel in the current period, weighted calculation is performed on the measured rotational speed and the next rotational period is predicted. The estimated speed of the momentum wheel has achieved the effect of predicting the speed of the momentum wheel in each rotation period, such as figure 2 As shown, the specific steps are as follows:

[0031] (1) Obtain the characteristic parameter C including the measuring wheel voltage-torque V_T , Momentum wheel speed-friction torque characteristic parameter T fric , initial rotational speed of the momentum wheel ω init , moment of inertia of momentum wheel J mw The initial parameters of the momentum wheel including:

[0032] The speed-friction moment characteristic of the mo...

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Abstract

The invention discloses a high-precision rotating speed measurement method of a momentum wheel fused with control voltage at low rotating speed. The rotating speed of the momentum wheel is estimated through the momentum wheel control voltage signal and the momentum wheel model; fusion processing is carried out on the estimated rotating speed and the actually collected rotating speed of the momentum wheel; and meanwhile, the rotating speed acquisition precision of the momentum wheel in a low-rotating-speed region is improved through an optimization algorithm, the problems that a traditional photoelectric encoder has large errors and time delay when measuring the rotating speed of the momentum wheel under the low-rotating-speed condition, and consequently momentum wheel friction torque feedforward compensation is inaccurate are solved; the method process is clear, and the measurement precision is high.

Description

technical field [0001] The invention relates to a high-precision rotational speed measurement method of fusion control voltage at a low rotational speed of a momentum wheel, which belongs to the field of spacecraft attitude control. Background technique [0002] The momentum wheel is the key actuator of the satellite attitude control system. At present, most of the momentum wheels at home and abroad adopt electromagnetic torque control or current control mode, that is, according to the voltage-torque characteristics of the momentum wheel, a specific control voltage is input to obtain the control torque. The momentum wheel controlled by electromagnetic torque cannot overcome the frictional interference torque, which essentially introduces the internal interference torque of the flywheel into the satellite attitude control system, which directly leads to a decrease in the accuracy of satellite attitude control. To this end, the scheme can be optimized. By collecting the curre...

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Application Information

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IPC IPC(8): G01P3/486
CPCG01P3/486
Inventor 王晋鹏赵江涛陈超关宏陆栋宁雷拥军施海燕黄碳钢
Owner BEIJING INST OF CONTROL ENG
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