High-precision controller for ultra-low-speed control moment gyroscope frame servo system

Abstract

The invention provides a high-precision controller for an ultra-low-speed control moment gyroscope frame servo system. Firstly, a discrete time system state-space equation is obtained according to a continuous time system state-space equation of the ultra-low-speed frame servo system, then accurate estimation of instantaneous speed and lumped disturbance is achieved by designing a double-sampling-rate extended state observer, and finally, a composite sliding mode control algorithm is designed based on sliding mode control and disturbance compensation in a speed ring to suppress lumped disturbance. According to the high-precision controller for the ultra-low-speed control moment gyroscope frame servo system, provided by the invention, the double-sampling-rate extended state observer is designed to solve the problem that the estimation performance of an existing estimation method becomes poor under the influence of factors such as model parameter change of the ultra-low-speed frame servo system; the composite sliding mode control algorithm is further designed to enhance the disturbance suppression capability of the system; and starting from two aspects of sensing detection and disturbance suppression, the angular rate control precision of the ultra-low-speed frame servo system is comprehensively improved.

Description

technical field [0001] The invention belongs to the field of high-precision angular rate control of a magnetic suspension control torque gyro frame servo system, and specifically relates to a high-precision controller of an ultra-low speed control torque gyro frame servo system, which is used to improve the angular rate detection accuracy and interference suppression ability of the frame servo system. Realize the high-precision angular rate tracking control of the frame servo system, and then realize the high-precision torque output of the control torque gyro. Background technique [0002] The control torque gyro is forced to change the direction of the angular momentum vector of the high-speed rotor by the frame servo system to output the gyro torque. To ensure the accuracy of the output torque of the control torque gyro, it is necessary to realize the high precision control of the angular rate of the frame servo system. [0003] The frame servo system is composed of sensin...

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: aiming at the problem of insufficient speed detection accuracy caused by the detection delay of the position sensor of the ultra-low speed frame servo system, thereby reducing the problem of its angular rate control accuracy, overcoming the deficiencies of the existing methods, by designing a state based on double sampling rate expansion The closed-loop estimation method of the observer realizes the accurate estimation of the instantaneous velocity and "lumped disturbance", and at the same time designs a compound sliding mode control algorithm based on sliding mode control and disturbance compensation in the speed loop to suppress the "lumped disturbance". The proposed scheme An instantaneous speed estimation method with lower model dependence and more suitable for ultra-low-speed frame servo system is given, which not only improves the speed detection performance of the frame servo system, but also enhances its disturbance suppression ability, and comprehensively improves the ultra-low-speed frame servo system. Angular rate control accuracy of the system

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