A high-precision and robust control method for a spatial motion servo mechanism

Abstract

The invention discloses a high-precision and strong robust control method for a space motion servo control system. Taking a direct drive architecture system of a 500Nms control torque gyro CMG (Control Moment Gyro) as the control object, the space motion servo mechanism can be used in multi-source loads. Advanced control methods for complex working conditions such as disturbances, high flexibility and high dynamics. Through the self-learning of the neural network, the relationship between the multi-modal disturbance of the spatial motion servo mechanism and the control system setting value, measurable state variables and output quantity is identified. After establishing a generalized neural network model of the plant that does not include stiffness changes, load changes and working modes, the effects of multi-modal disturbances on the system are separated. Then through neural network reinforcement learning, the self-learning neural network compensator model is obtained, and as an "plug-in" controller, its output is used as a control increment to superimpose the output current of the original controller to offset the multi-source interference and structural modal changes. The resulting system control quality deteriorates, and the accuracy and robustness of the original control system are improved.

Description

technical field [0001] The invention belongs to the technical field of servo system control, in particular to a high-precision strong robust control method of a spatial motion servo mechanism. Background technique [0002] The space servo mechanism is different from the ground servo mechanism. It needs to work in a gravity-free and moving base environment, and has the characteristics of strong coupling of motion control, low damping of multi-source excitation and so on. These characteristics bring difficulties to the servo control of high dynamic and high precision motion in space. The 500Nms control torque gyro CMG belongs to the control torque gyro, which is the executive component of the spacecraft to adjust the attitude in space. It obtains angular momentum through the high-speed rotating wheels, and outputs torque by changing the direction of the angular momentum. [0003] The factors affecting its control accuracy include torque disturbances such as friction, pulsatio...

AI Technical Summary

Problems solved by technology

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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