A high-precision controller for ultra-low speed control moment gyro frame servo system

A servo system and controller technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problems of reducing angular rate control accuracy and insufficient speed detection accuracy, so as to enhance the ability of disturbance suppression and realize angular control. High-precision rate control and the effect of suppressing residual disturbance

Active Publication Date: 2022-03-08
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 problem of insufficient speed detection accuracy caused by the detection delay of the position sensor of the ultra-low speed frame servo system, thereby reducing the problem of its angular rate control accuracy, overcoming the deficiencies of the existing methods, by designing a state based on double sampling rate expansion The closed-loop estimation method of the observer realizes the accurate estimation of the instantaneous velocity and "lumped disturbance", and at the same time designs a compound sliding mode control algorithm based on sliding mode control and disturbance compensation in the speed loop to suppress the "lumped disturbance". The proposed scheme An instantaneous speed estimation method with lower model dependence and more suitable for ultra-low-speed frame servo system is given, which not only improves the speed detection performance of the frame servo system, but also enhances its disturbance suppression ability, and comprehensively improves the ultra-low-speed frame servo system. Angular rate control accuracy of the system

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  • A high-precision controller for ultra-low speed control moment gyro frame servo system
  • A high-precision controller for ultra-low speed control moment gyro frame servo system
  • A high-precision controller for ultra-low speed control moment gyro frame servo system

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specific Embodiment approach 1

[0055] Specific implementation mode 1: see figure 2 This embodiment is described. A high-precision controller of an ultra-low-speed control torque gyro frame servo system described in this embodiment includes a frame servo system mathematical model part 1, a double sampling rate expansion state observer part 2, and a composite sliding mode control algorithm part. 3, its specific implementation steps are as follows:

[0056] Step 1: Build the frame servo system mathematical model:

[0057] According to the sampling period of the speed loop controller, the continuous time system state space equation of the frame servo system is discretized, and the discrete time system state space equation of the frame servo system is obtained, and the frame servo system mathematical model part 1 can be obtained.

[0058] (1) The state equation of the continuous time system to establish the frame servo system is:

[0059]

[0060] where θ is the frame motor angular position, ω is the frame...

specific Embodiment approach 2

[0077] Embodiment 2: This embodiment is a further limitation of the high-precision controller of the ultra-low speed control torque gyro frame servo system described in Embodiment 1, see image 3 Illustrating this embodiment, the specific design method of the double sampling rate extended state observer part 2 is as follows:

[0078] At the sampling time t=[m,n] of the speed loop controller between the changing times of the position sensor data, where n=1,2,...,N-1, the position sensor cannot detect the angular position change of the frame motor, according to The discrete-time system state-space equations for frame motors estimate system states such as angular velocity and "lumped disturbances":

[0079]

[0080] Among them, the state variable estimation matrix z=[z 1 z 2 z 3 ] T z 1 ,z 2 ,z 3 are used to estimate x 1 , x 2 , x 3 , […] T represents the transpose of the matrix […], z 1 [m,n] means z when the sampling time of the speed loop controller is t=[m,n]...

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Abstract

The invention provides a high-precision controller of an ultra-low speed control moment gyro frame servo system. Firstly, the discrete-time system state-space equation is obtained according to the continuous-time system state-space equation of the ultra-low-speed frame servo system, and then the precise estimation of the instantaneous velocity and "lumped disturbance" is realized by designing a double sampling rate expansion state observer, and finally in the velocity loop A compound sliding mode control algorithm based on sliding mode control and disturbance compensation is designed to suppress the "lumped disturbance". The high-precision controller of the ultra-low-speed control torque gyro frame servo system proposed by the present invention not only designs a double sampling rate expansion state observer to solve the estimation performance deterioration of the existing estimation method under the influence of factors such as changes in the model parameters of the ultra-low-speed frame servo system In order to solve the problem, a compound sliding mode control algorithm is also designed to enhance the disturbance suppression ability of the system; starting from two aspects of sensor detection and disturbance suppression, the angular rate control accuracy of the ultra-low speed frame servo system is comprehensively improved.

Description

technical field [0001] The invention belongs to the field of high-precision angular rate control of a magnetic suspension control torque gyro frame servo system, and in particular relates to a high-precision controller of an ultra-low-speed control torque gyro frame servo system, which is used for improving the angular rate detection accuracy and interference suppression capability of the frame servo system. Realize the high-precision angular rate tracking control of the frame servo system, and then realize the high-precision torque output of the control torque gyro. Background technique [0002] The control torque gyroscope is forced to change the angular momentum vector direction of the high-speed rotor by the frame servo system to output the gyro torque. To ensure the accuracy of the output torque of the control torque gyroscope, it is necessary to realize the high-precision control of the angular rate of the frame servo system. [0003] The frame servo system consists of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李海涛王颖韩邦成史阳阳陈祥文
Owner BEIHANG UNIV
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