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A high-precision friction compensation control method for a double-frame magnetic levitation cmg frame system

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

Active Publication Date: 2017-10-24
BEIHANG UNIV
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Problems solved by technology

In order to enhance the robustness of the frame system to external disturbance moments, 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 (Internal Model Controller, IMC) is proposed.

Method used

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  • A high-precision friction compensation control method for a double-frame magnetic levitation cmg frame system
  • A high-precision friction compensation control method for a double-frame magnetic levitation cmg frame system
  • A high-precision friction compensation control method for a 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 for a double-frame magnetic levitation CMG frame system. Firstly, a dynamic model of the double-frame servo system is established, and the coupling torque of the frame system is fed-forwardly compensated. The nonlinear friction torque of the frame system is estimated, and then TDC is used for feedback compensation of the nonlinear friction torque. Two-degree-of-freedom IMC is introduced to realize independent control of frame system tracking performance and disturbance suppression ability, and at the same time enhance the robustness of TDC. The invention enhances the robustness of the frame system to the nonlinear friction moment, and is suitable for the high-precision friction compensation control of the double-frame magnetic levitation control moment gyro frame servo system.

Description

technical field [0001] The invention belongs to the field of servo system control, and in particular relates to a high-precision friction compensation control of a double-frame magnetic levitation CMG (Control momentgyro) frame system, which is used to realize high-precision angular rate tracking control of the frame servo system and improve the disturbance suppression ability of the frame system. Realize the high-precision torque output of the control torque gyro. 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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