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Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation

A technology for controlling torque gyroscopes and servo control systems, which is applied to the guidance devices of space navigation vehicles, etc., can solve problems such as difficulty in accurately compensating friction torque, difficult to meet compensation requirements, and inability to meet high bandwidth, so as to ensure stability and improve accuracy. performance, debugging and flexible effects

Inactive Publication Date: 2007-06-06
BEIHANG UNIV
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Problems solved by technology

The friction torque compensation method of the existing frame servo control system generally adopts a fixed nonlinear friction model: Coulomb friction model, sliding friction model or static friction model plus sliding friction model. The compensation requirements of the friction torque of the nonlinear parameter change of the servo system, it is difficult to achieve accurate compensation of the friction torque of the magnetic levitation control torque gyro frame by using this method
Therefore, the current friction torque compensation method cannot meet the requirements of the high-bandwidth, high-precision low-speed control magnetic suspension control torque gyro frame servo control system

Method used

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  • Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation
  • Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation
  • Servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation

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Embodiment Construction

[0019] As shown in FIG. 1 , the present invention includes a frame servo system controller 1, a frame servo torque motor 2, a magnetic suspension control torque gyro frame 3, and a frame servo system nonlinear model identification unit 4 and a frame servo system. The nominal model unit 5 is composed of Adaptive friction compensator 6. The frame servo system nonlinear model identification unit 4 collects the current signal of the frame servo torque motor 2 and the angular rate signal of the magnetic suspension control torque gyro frame 3, identifies the nonlinear model of the frame servo system through the adaptive least squares algorithm, and identifies the real-time identification The friction parameters are obtained by making the difference between the precise model parameters of the frame servo system and the nominal model parameters of the frame servo system, which are directly input to the frame servo system controller 1 to calculate the friction compensation amount in rea...

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Abstract

The servo control system of magnetically suspended control moment gyroscope frame with precise friction compensation includes mainly a magnetically suspended control moment gyroscope frame, a frame servo moment motor, a frame servo system controller and an adaptive friction compensator, which includes a frame servo system non-linear model identification unit and a frame servo system nominal model unit. The adaptive friction compensator is introduced for real-time acquiring the current signal and angular rate signal of the frame servo system and precise non-linear model identification, so as to compensate the friction of the frame servo system, regulate adaptively the friction moment compensation coefficient, raise the angular rate output precision and response speed of the frame servo system and improve the moment output precision and response speed of the whole magnetically suspended control moment gyroscope system.

Description

technical field [0001] The invention relates to a magnetic suspension control torque gyro frame servo control system with accurate friction compensation, which is used for high-precision control of the magnetic suspension control torque gyro frame servo system, and is especially suitable for precise spacecraft control actuators requiring high bandwidth, low speed and high precision . Background technique [0002] Compared with the traditional mechanically controlled moment gyroscope, the magnetic levitation control moment gyroscope (CMG) has become the key actuator for attitude control of large spacecraft such as the space station because of its advantages of large torque output, low vibration, no lubrication and long life. The magnetic levitation control torque gyro is composed of a high-speed rotor system supported by magnetic levitation and a frame servo system. The application principle is that the frame servo system forces the high-speed rotor to precess, and the output...

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Application Information

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IPC IPC(8): B64G1/28
Inventor 房建成于灵慧王鹏贾军李海涛
Owner BEIHANG UNIV
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