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Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor

A technology for controlling torque gyroscopes and control systems, applied in the direction of auxiliary non-electric speed/acceleration control, etc., can solve problems such as inability to achieve results

Active Publication Date: 2016-07-20
BEIJING INST OF CONTROL ENG
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Problems solved by technology

The double-loop PI controller cannot achieve the desired effect in suppressing such high-frequency and large-amplitude disturbances

Method used

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  • Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor
  • Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor
  • Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor

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Embodiment Construction

[0066] For example, in the vibration test of the control moment gyro (CMG), it is found that the fundamental frequency of the rotor dynamic unbalance disturbance torque frequency actually acting on the low-speed frame is the high-speed rotor speed frequency, and its corresponding multiplier frequency components, including 3 , 5, 7 octaves. Since the CMG rotor speed is a constant value, the frequency of the rotor dynamic unbalance disturbance torque is a constant value, which is a set of periodic motion disturbance torque. In order to suppress this series of disturbance moments, thereby suppressing the CMG frame speed fluctuation, in the traditional double-loop PI control system, a feed-forward compensation module and an algorithm switching module are added, such as figure 1 shown.

[0067] The main idea of ​​feed-forward compensation is that for a dynamic system that moves periodically on a finite interval, the error amount of the previous cycle iteration is used to correct t...

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Abstract

A control moment gyroscope (CMG) framework control system and a CMG framework control method for restraining dynamic unbalance disturbance of a rotor are provided. A feed-forward compensation module and an algorithm switching module are embedded on the basis of a double-loop PI control system. In preset Ng control cycles, the whole framework control system is set to a PI control mode; in each control cycle from the (Ng+1)th control cycle, the speed precision of a CMG framework in the current control cycle is calculated through the algorithm switching module, and whether there is a need to switch the control mode of the current control cycle is determined; if the control mode is a feed-forward compensation mode after switching, subtraction operation is carried out on a moment reference value output by a speed loop PI controller and a fed-back torque of a framework motor to get the mechanical torque error e(j+1) of the current control cycle, and the feed-forward compensation module calculates the current feed-forward compensation value Delta i(qref, j+1) of the current control cycle according to e(j+1) and adds Delta i(qref, j+1) to the double-loop PI control system; and if the control mode is a PI control mode after switching, current feed-forward compensation is blocked, and control is performed according to the double-loop PI control system.

Description

technical field [0001] The invention relates to a method for controlling a high-precision frame of a control moment gyroscope meeting the requirements of aerospace applications, which can meet the requirements of high-precision frame control under the conditions of aerospace applications. Background technique [0002] In the field of aerospace, the speed control accuracy of the frame components in the control moment gyroscope has a direct impact on the performance of the whole machine, and plays an important role in the attitude stability and attitude control accuracy of the satellite. [0003] The drive of the low-speed frame of the single-frame control moment gyro generally uses a permanent magnet synchronous motor. After combining the vector control, the permanent magnet synchronous motor has the characteristics of high output torque accuracy and good control performance under the low-speed rotation state. In order to improve the output torque accuracy of the permanent m...

Claims

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Application Information

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IPC IPC(8): G05D13/46
CPCG05D13/46
Inventor 来林周大宁武登云魏大忠史永丽
Owner BEIJING INST OF CONTROL ENG
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