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陀螺飞轮通过挠性支撑的动量轮转子加减速及侧向摆动实现三轴控制力矩输出,飞轮转子两维侧摆伺服系统是实现三轴力矩输出功能的关键.高速转子两维侧摆运动存在强耦合,采用常规的PID控制器无法实现两通道独立输出控制力矩.给出了一种解耦控制方法,通过串联解耦矩阵实现两维摆角解耦控制,并通过实时计算解耦矩阵系数解决解耦矩阵随飞轮转子转速时变的问题.数值仿真结果验证了这种解耦控制方法的有效性.
Three-axis control torque output is realized by gyro flywheel acceleration and deceleration and lateral swing of flexible support rotor, and the key to realize the three-axis torque output function is the two-dimensional side-swing servo system of flywheel rotor. Coupling, the conventional PID controller can not realize the two-channel independent output control torque. A decoupling control method is given, which realizes the two-dimensional swing angle decoupling control through the series decoupling matrix and is solved by real-time decoupling matrix coefficient calculation The decoupling matrix is time-varying with the rotor speed of the flywheel.The numerical simulation results verify the effectiveness of this decoupling control method.