论文部分内容阅读
针对双框架磁悬浮控制力矩陀螺(DGMSCMG)内、外框架伺服系统耦合力矩及传动机构的非线性传动特性影响框架角速率精度的问题,提出一种基于自适应反步的非线性鲁棒控制器的设计方法。首先分别就双框架伺服系统耦合力矩及框架传动机构的非线性传动特性对系统稳定性和角速率精度的影响进行分析;其次利用反步理论,通过构造适当的Lyapunov函数并逐级反推得到控制律,保证参数估值的收敛性和系统的全局稳定性;最后通过仿真分析并以小型DGMSCMG系统为对象进行实验,结果表明:与电流前馈控制比较,所提出的自适应反步控制方法,既增强双框架伺服系统的扰动抑制能力,又提高框架角速率精度。
Aimed at the problem of angular velocity accuracy of the frame coupled with the coupling torque of the servo system and the non-linear transmission of the transmission mechanism in the dual-frame Maglev Control Moment Gyroscope (DGMSCMG), a nonlinear robust controller based on adaptive backstepping Design method Firstly, the influence of the coupling torque of the two-frame servo system and the nonlinear transmission of the frame transmission mechanism on the system stability and the angular rate accuracy are analyzed respectively. Secondly, by using the backstepping theory, by constructing the appropriate Lyapunov function and controlling step by step, The convergence of the parameter estimation and the global stability of the system are ensured. Finally, the simulation experiments are carried out on a small DGMSCMG system. The results show that compared with the current feedforward control, the proposed adaptive backstepping control method, Not only enhances the dual-frame servo system’s disturbance rejection ability, but also improves the frame angular rate accuracy.