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双框架变速率控制力矩陀螺(Double-gimbaled variable-speed control moment gyroscope,DGVSCMG)是航天器重要姿态执行机构。它由内外框架速率伺服系统和转速可变的高速转子组成,有飞轮和控制力矩陀螺(Control moment gyroscope,CMG)两种工作模式。在两种工作模式下,框架伺服系统都会受到不匹配干扰,降低速率伺服性能,影响DGVSCMG的输出力矩精度,需要加以抑制。为了提高框架系统抗扰性能,并保证系统角速率伺服精度,提出一种基于干扰观测器(Disturbance observer,DO)与状态反馈的解耦控制方法。在对DGVSCMG框架系统的不匹配扰动建模与分析的基础上,利用鲁棒控制思想设计控制器与干扰观测器参数,并对全局系统进行了稳定性分析。仿真和试验结果表明,所提出的方法可有效抑制双框架伺服系统干扰,并满足DGVSCMG框架系统的性能要求。
Double-gimbaled variable-speed control moment gyroscope (DGVSCMG) is an important attitude actuator of spacecraft. It consists of inner and outer frame rate servo system and variable speed high speed rotor, flywheel and control moment gyro (Control moment gyroscope, CMG) two working modes. In both operating modes, the frame servo system will be mismatched interference, reduce the rate of servo performance, DGVSCMG affect the output torque accuracy, need to be suppressed. In order to improve the anti-interference performance of the frame system and ensure the servo angular velocity accuracy, a decoupling control method based on Disturbance observer (DO) and state feedback is proposed. Based on the modeling and analysis of the unperturbed perturbation of the DGVSCMG frame system, the parameters of the controller and disturbance observer are designed by using robust control theory, and the stability of the global system is analyzed. Simulation and experimental results show that the proposed method can effectively suppress the interference of dual-frame servo system and meet the performance requirements of DGVSCMG frame system.