Control moment gyroscope decoupling control method

Abstract

The invention discloses a decoupling control method for a control moment gyroscope, and relates to the technical field of control of control moment gyroscopes. The decoupling control method for the control moment gyroscope comprises the following steps: according to initial conditions and constraint conditions of a control moment gyroscope system, performing reversibility analysis on the system by adopting an Interactor algorithm, selecting sample data points in a normal working interval of the system, performing algorithm training based on an RBF neural network, and finally performing decoupling control on the control moment gyroscope. And connecting the trained inverse system with an original system in series to form a new equivalent decoupling system, constructing a linear expansion state observer to estimate residual terms of an equivalent system, and combining the linear expansion state observer with a PD controller to form a closed loop. The invention aims to design a decoupling control algorithm for a control moment gyroscope, the problem that solving is difficult by adopting a mathematical analysis method is avoided, residual terms of an equivalent system after decoupling are estimated through a linear expansion state observer, the influence of neural network approximation errors on decoupling performance is reduced, and the decoupling performance of the control moment gyroscope is improved. And the dynamic performance of the control system is further optimized.

Description

Technical field [0001] The present invention belongs to the field of control torque gyro control technology, specifically relates to a control torque gyroscope decoupling control method. Background [0002] With the rapid development of the space industry, the space missions performed by spacecraft are becoming more and more complex, such as rendezvous and docking, target capture, reconnaissance and early warning, etc. Due to the particularity of these space missions, the mission equipment installed on the spacecraft generally does not have the maneuverability and is fixed on the spacecraft, so the attitude maneuverability of the spacecraft determines the agility of the mission agency. The control torque gyroscope has the advantages of large output torque, fast response, low power consumption and pollution-free, which can meet the needs of most complex space missions, among which the dual-frame control torque gyroscope can effectively avoid singular problems and become a hot spot...

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Problems solved by technology

[0004] (The DOI of this article is 10.13700 / j.bh.1001-5965.2021.0021 for the first time on the Internet). The state feedback decoupling active disturbance rejection control method proposed in this article realizes the decoupling linearization of the system by designing the state feedback matrix, and then Combined with active disturbance rejection control technology to improve the robustness of the system, the method proposed in this paper achieves a good decoupling effect on the simplified linear system. Considering that the mathematical model of the system is more complex in actual work, it is too difficult to solve the state feedback matrix. Therefore, its applicability needs to be improved

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