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

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...

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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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