High-precision control method for double-frame mscmg frame system based on adaptive sliding mode compensation
An adaptive sliding mode and frame system technology, applied in the field of servo system control, can solve problems such as difficult system dynamics, decoupling stability to be studied, and large computing resources
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[0060] (1) Establish the dynamic model of the double frame servo system
[0061] The coordinates of the maglev control moment gyro frame system are defined as image 3 shown. ox i the y i z i is the inertial coordinate system, o is the geometric center of the gyroscope stator, x i In the initial state, coincide with the axis of the frame, and take the motor end of the frame as the positive direction, y i In the initial state, it points to the direction of the rotor rotation axis, z i In the initial state, it points to the direction of the rotor rotation axis; o s x s the y s z s is the installation reference coordinate system of the magnetic levitation control moment gyro, that is, the zero position coordinate system; o b x b the y b z b is the satellite body coordinate system; ox j the y j z j It is the coordinate system of the outer frame, which is fixedly connected with the outer frame, coincides with the zero position system at zero position, and has relati...
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