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High-precision friction compensation control method of double-frame magnetic levitation CMG frame system

A frame system and friction compensation technology, applied in the field of servo system control, can solve problems such as enhancing the robustness of external disturbance torque and difficult to guarantee TDC stability

Active Publication Date: 2015-12-16
BEIHANG UNIV
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Problems solved by technology

In order to enhance the robustness of the frame system to external disturbance torque, and to solve the problem that the stability of TDC is not easy to guarantee in the actual system, a method of combining TDC with two degrees of freedom internal model controller (InternalModelController, IMC) is proposed

Method used

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  • High-precision friction compensation control method of double-frame magnetic levitation CMG frame system
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  • High-precision friction compensation control method of double-frame magnetic levitation CMG frame system

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specific Embodiment approach

[0055] (1) Establish the dynamic model of the double frame servo system

[0056] The coordinates of the maglev control moment gyro frame system and the high-speed rotor system are defined as figure 2 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; 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 relative inertial system with respect to y i The degree of freedom of the axis coincides with the inertial system in the initial state; ox g the y g z g It is the coordinate system of the inner frame, fixedly connected with the inner frame, relative to the outer frame system with r...

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Abstract

The invention discloses a high-precision friction compensation control method of a double-frame magnetic levitation CMG frame system. A double-frame servo system dynamics model is established at first, the coupling moment of the frame system is subjected to feedforward compensation control, the non-linear friction moment of the frame system is estimated by means of a time delay estimator (TDE), the feedback compensation of the non-linear friction moment is carried out by means of TDC, a two-degree freedom IMC is introduced to realize the independent control of the frame system tracking performance and disturbance suppression capability, and meanwhile, the robustness of the TDC is enhanced. The high-precision friction compensation control method enhances the robustness of the frame system to the non-linear friction moment and is suitable for the high-precision friction compensation control of the double-frame magnetic levitation CMG frame system.

Description

technical field [0001] The invention belongs to the field of servo system control, and specifically relates to a high-precision friction compensation control of a double-frame magnetic levitation CMG (Controlmomentgyro) frame system, which is used to realize high-precision angular rate tracking control of the frame servo system, improve the disturbance suppression ability of the frame system, and realize Control torque gyro high-precision torque output. Background technique [0002] Magnetic levitation control moment gyroscope is the key actuator for attitude control of spacecraft such as agile maneuvering satellites. Compared with the single-frame magnetic levitation CMG, the double-frame magnetic levitation CMG can output the torque of two degrees of freedom, the singularity problem is not obvious, and the number of use is small, which is an important direction for the development of CMG. The double-frame maglev CMG is mainly composed of a high-speed rotor and an inner an...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 崔培玲杨珊李海涛房建成闫斌宁欣
Owner BEIHANG UNIV
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