High-precision and strong-robustness control method for spatial motion servo mechanism
A space motion and control method technology, applied in the field of servo system control, can solve the problem of strong coupling between structure and electrical nonlinear characteristics that cannot be directly or indirectly measured, so as to enhance high-precision and strong robust control performance and improve system robustness performance and reduce the effect of system error
Active Publication Date: 2021-06-04
TONGJI UNIV
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Since only one angular position sensor and a device for measuring motor current are installed in the actual system, factors such as high flexibility, time-varying load, broadband disturbance, and strong coupling between structure and electrical nonlinear characteristics cannot be directly or indirectly measured. Traditional control methods have significant limitations
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[0023] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
[0024] Depend on figure 1 It can be seen that because only one angular position sensor and a device for measuring motor current are installed in the system, factors such as high flexibility, time-varying load, broadband disturbance, and strong coupling between structure and electrical nonlinear characteristics cannot be directly analyzed. Indirect measurement, difficult to achieve figure 2 As shown in the typical feed-forward control, the traditional control method has great limitations.
[0025] For example, a high-precision and robust control method for a space motion servo control...
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The invention discloses a high-precision and strong-robustness control method for a spatial motion servo control system, which takes a direct drive architecture system of a 500Nms control moment gyroscope CMG (Control Moment Gyro) as a control object, and realizes an advanced control method of a spatial motion servo mechanism under complex working conditions such as multi-source load disturbance, flexible high dynamic and the like. And through self-learning of the neural network, the relation of the multi-mode interference of the spatial motion servo mechanism to the set value of the control system, the measurable state variable and the output quantity is identified. After a generalized controlled object neural network model which does not contain rigidity change, load change and working mode is established, the influence of multi-modal disturbance on the system is separated. A self-learning neural network compensator model is obtained through neural network reinforcement learning, the self-learning neural network compensator model serves as an external hanging type controller, the output of the self-learning neural network compensator model serves as a control increment to be superposed with the output current of an original controller, system control quality deterioration caused by multi-source interference and structural mode change is counteracted, and the precision and robustness of an original control system are improved.
Description
technical field [0001] The invention belongs to the technical field of servo system control, and in particular relates to a high-precision and robust control method for a space motion servo mechanism. Background technique [0002] Different from the servo mechanism on the ground, the space servo mechanism needs to work in a gravity-free, moving base environment, and has the characteristics of strong coupling of motion control, multi-source excitation and low damping. These characteristics bring difficulties to the servo control of space high dynamic and high precision motion. The 500Nms control moment gyro CMG belongs to the control moment gyro, which is the executive component for spacecraft to adjust its attitude in space. It obtains angular momentum through high-speed rotating wheels, and outputs torque by changing the direction of angular momentum. [0003] Factors that affect its control accuracy include torque disturbances such as friction, pulsation, and coupling pro...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 岳继光吴琛浩何洪志苏永清
Owner TONGJI UNIV