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Nonlinear transmission torque model modeling method and gear wave disturbance torque suppression method

A technology of nonlinear transmission and modeling method, which is applied in the field of servo motor control, can solve the problems of difficult modeling and difficult disturbance suppression, and achieve the effect of improving accuracy, compensating for phase lag, and good disturbance suppression effect

Pending Publication Date: 2021-12-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] Based on the deficiencies of the above-mentioned prior art, the present invention proposes a nonlinear transmission torque model, which overcomes the difficulty of online modeling of the nonlinear transmission torque of the harmonic reducer and the difficulty of suppressing the disturbance, and establishes the harmonic deceleration online based on the Lagrange equation method According to the torque characteristics, the gear wave torque model is extracted, and the phase advance model to be adjusted is obtained by using the neural network algorithm, and based on this, a disturbance compensation method based on phase advance and model feedforward is proposed, which effectively suppresses the The nonlinear disturbance torque caused by the harmonic reducer ensures the performance requirements of the gyroscope

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  • Nonlinear transmission torque model modeling method and gear wave disturbance torque suppression method

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Embodiment Construction

[0081] Exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0082] The basic principle of the invention is: the frame control moment gyroscope is often used as an attitude adjustment device for spacecraft, so its volume is limited and its performance is strictly required. Considering the size and weight limitations of the frame servo motor, a harmonic reducer is introduced to achieve the goal of amplifying the torque and reducing the size and weight. However, the nonlinear transmission characteristics of the harmonic reducer are introduced into the system, resulting in nonlinear and The multi-source disturbance torque seriously reduces the accura...

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Abstract

The invention provides a nonlinear transmission torque model modeling method and a gear wave disturbance torque suppression method, aiming at a gyro frame servo system based on a harmonic reducer, only an angular position sensor is included, and in order to avoid repeated disassembly and assembly and perform parameter identification by means of a torque sensor, a system model is established on line based on a Lagrange equation by starting with the energy angle. transmission torque characteristics are analyzed, a gear wave torque mathematical model is extracted, a phase lead model is established by adopting a neural network algorithm, and a gear wave torque suppression algorithm with phase lead model feedforward is designed. The method is simple, effective and easy to implement, the accurate nonlinear transmission torque of the harmonic reducer can be obtained without the help of a torque sensor under the complex working condition of a gyroscope frame system, and the phase-leading gear wave torque model-based feed-forward suppression method is adopted for the main disturbance torque gear wave torque. And the most basic guarantee is provided for high-precision frame servo control.

Description

technical field [0001] The invention belongs to the field of servo motor control, and in particular relates to a nonlinear transmission torque model modeling method and a gear wave disturbance torque suppression method. Background technique [0002] The control moment gyroscope has the advantages of large output torque, high precision, no need to consume working fluid, and long life. Therefore, it is widely used in the field of attitude control of large spacecraft such as space stations, space telescopes, and ultra-agile mobile satellites. The control moment gyro is composed of high-speed rotor system and frame system. Its basic working principle is: when the high-speed rotor rotates at high speed, the frame system changes the direction of angular momentum to realize the output of torque and control the attitude of the spacecraft. Since the angular momentum of the gyroscope is constant, the accuracy of the attitude control of the spacecraft and the output torque accuracy of ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00H02P23/04B64G1/24B64G1/28G06N3/08
CPCH02P23/0004H02P23/0018H02P23/0077H02P23/04B64G1/286B64G1/244G06N3/08
Inventor 史阳阳余远金刘向东
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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