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High-precision control method of control torque gyro frame system based on harmonic reducer

A technology for controlling torque gyroscopes and harmonic reducers, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problem of low output angular rate accuracy, alleviate chattering problems, and reduce estimation burden , Improve the effect of control accuracy

Active Publication Date: 2022-05-13
BEIHANG UNIV
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: to overcome the problem that the output angular rate accuracy of the existing control torque gyro frame servo system based on the harmonic reducer is not high, and to invent a modeling method and method for improving the output angular rate accuracy of the frame system Control algorithm, through this method, a better estimation effect on the system state is obtained, the interference suppression ability of the system is improved, and the angular rate servo control accuracy of the control moment gyro frame system is greatly improved

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  • High-precision control method of control torque gyro frame system based on harmonic reducer

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Embodiment Construction

[0058] The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.

[0059] Such as figure 1 As shown, a control torque gyro frame system based on harmonic reducer, including: sliding mode controller 1, power amplifier 2, torque motor 3, encoder 4, harmonic reducer 5, frame system load 6, resolver 7 , Expanded state observer 8: wherein, the sliding mode controller 1 suppresses and compensates the disturbance in the system in real time through the control input and then generates a control signal, outputs the actual control current through the power amplifier 2 to drive the torque motor 3, and is fixedly connected to the torque motor 3 The encoder 4 on the motor shaft is used to measure the angular position of the torque motor 3, the output end of the torque motor 3 is rigidly connected to the input end of the harmonic reducer 5 and the speed is the same, and the harmonic...

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Abstract

The invention discloses a high-precision control method for a control torque gyro frame system based on a harmonic reducer. The frame system is modeled from the perspective of energy by using Lagrangian function and Rayleigh dissipation function. The extended state observer observes the system by obtaining the control input information of the system and the load angular position information of the frame system, and will observe the observed data. The estimated value of the total disturbance is input into the sliding mode controller, and the sliding mode controller suppresses and compensates the disturbance in the system in real time through the control input. Compared with the traditional modeling method, the modeling method proposed by the present invention does not have the problem of interference mismatch, and the composite controller can realize the high-precision frame angular rate servo control.

Description

technical field [0001] The invention belongs to the control field of a control moment gyro frame system, in particular to a high-precision control method for a control moment gyro frame system based on a harmonic reducer, in particular to a single frame control moment gyroscope. Background technique [0002] The control moment gyroscope is an important spacecraft attitude control actuator. It has the outstanding advantages of large output torque, high precision and no consumption of working fluid. It is an ideal choice for the attitude control actuator of agile maneuvering satellites, space stations and large satellite platforms. The single-frame control torque gyro is mainly composed of a high-speed rotor system and a frame system. When the high-speed rotor system rotates at a constant speed, the frame outputs the gyro torque by forcing the direction of the rotor shaft to change by rotating. When the angular momentum of the high-speed rotor system is constant, the accuracy ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李海涛王晓宇陈祥文史阳阳
Owner BEIHANG UNIV
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