基于迭代学习算法的控制力矩陀螺框架

扰动抑制策略研究

doi:10.3969/j.issn.1674-1579.2015.06.008

摘要/Abstract

摘要： 卫星的快速机动以及高精度姿态控制，越来越依赖高精度的控制力矩陀螺（CMG）力矩输出，这就需要CMG低速框架能够有效抑制扰动力矩，降低转速波动.对由高速转子动不平衡引起的扰动力矩进行了分析和建模.为了抑制该扰动力矩对低速框架转速稳定性的影响，在传统的低速框架PID双环控制系统上嵌入了迭代学习的控制算法.通过仿真实验验证该控制方法能够有效抑制扰振力矩，大幅度的提高CMG的输出力矩精度.

关键词: CMG, 迭代学习, 扰动抑制

Abstract: For highagility and highprecision attitude maneuver of remote sensing satellites, the control moment gyroscope (CMG) is expected to supply more accurate torque, which means the disturbance torque acting on its gimbal axis should be minimized to reduce the fluctuation of the gimbal speed. The torque generated by the wheel imbalance is analyzed, and the gimbal system model is built. To improve the gimbal speed stability, an iterative learning control (ILC) module is inserted into the PID gimbal control system. The proposed control system is evaluated via system simulation, and the results demonstrate that the ILC algorithm can minimize the fluctuating torque effectively, which significantly improves the precision of the CMG output torque.

Key words: CMG, iterative learning, pulsation torque minimization

中图分类号:

来林, 周大宁, 武登云. 基于迭代学习算法的控制力矩陀螺框架扰动抑制策略研究[J]. 空间控制技术与应用, 2015, 41(6): 42-.

LAI Lin, ZHOU Da-Ning, WU Deng-Yun. Disturbance Torque Minimization Strategy for Control Moment Gyroscopes Based on Iterative Learning Algorithm[J]. , 2015, 41(6): 42-.

参考文献

［1］ARENA L, DELFINI A. Design manufacturing and ground test of a small and cost effective FPGAbased control moment gyro for the URSA MAIOR Nanosatellite［C］// Proceedings 65th International Astronautical Congress. Toronto, Canada: IAF, 2014:18. ［2］MUMM E, DAVIS K, MAHIN M, et al. Miniature control moment gyroscope development［C］// Proceedings of Aerospace Conference. MT: IEEE, 2014:19. ［3］鲁明，李耀华，张激扬，等. 控制力矩陀螺框架伺服系统的超低速测速方法［J］.中国惯性技术学报, 2012,20(4):234238. LU M, LI Y, ZHANG J, et al. Ultralow speed detection method for CMG gimbal servo systems［J］. Journal of Chinese inertial Technology, 2012,20(4):234238. ［4］ZHOU D, ZHAI B, WEI D, et al. The design, ground test and flight validation of a high accuracy servo scheme for control moment gyroscope application［J］. Automatic Control in Aerospace, 2013,19(1):476481. ［5］ZHANG Y, ZHU J. Direct torque control of permanent magnet synchronous motor with reduced torque ripple and commutation frequency［J］. IEEE Transactions on Power Electronics, 2011,26(1):235248. ［6］XU J, PANDA S, PAN Y, et al. A modular control scheme for PMSM speed control with pulsation torque minimization［J］. IEEE Transactions on Industrial Electronics, 2004,51(3):526536. ［7］QIAN W, PANDA S, XU J. Torque ripple minimization in PM synchronous motor using iterative learning control［J］. IEEE Transactions on Power Electronics, 2004,19(2):272279. ［8］陈茂盛, 金光，张涛等.积分反馈自抗扰控制力矩陀螺框架伺服系统设计［J］.光学精密工程，2012, 20(11): 24242432. CHEN M, JIN G, ZHANG T, et al. Design of gimbal servo system of CMG using active disturbance rejection control with integral feedbacks［J］. Optics and Precision Engineering, 2012, 20(11): 24242432. ［9］吴忠，张激扬. 控制力矩陀螺框架伺服系统动力学建模与控制［J］. 应用基础与工程科学学报，2007,15(1):130146. WU Z, ZHANG J. Dynamics and control of gimbal servo systems for control moment gyroscopes［J］. Journal of Basic Science and Engineering, 2007,15(1):130146. ［10］金磊，徐世杰. SGCMG框架伺服系统动力学建模与低速控制［J］. 中国空间科学技术，2010,6:110. JIN L, XU S. Dynamics modeling and low rate control of gimbal servo system for single gimbal control moment gyro［J］. Chinese Space Science and Technology, 2010,6:110.

[1]	邱志成, 黄子骞. 柔性铰接板振动测量及迭代学习主动控制[J]. 空间控制技术与应用, 2020, 46(5): 1-9.
[2]	翟华, 来林, 武登云, 李刚, 魏文杉. 控制力矩陀螺发展与应用研究[J]. 空间控制技术与应用, 2020, 46(2): 1-7.
[3]	. 基于增益调度的变速控制力矩陀螺操纵律设计[J]. 空间控制技术与应用, 2016, 42(6): 31-.
[4]	牟夏, 宗红, 雷拥军. 姿态机动中SGCMG的一种改进奇异鲁棒操纵律设计[J]. 空间控制技术与应用, 2012, 38(2): 17-23.
[5]	王淑一, 魏春岭, 刘其睿 . 敏捷卫星快速姿态机动方法研究[J]. 空间控制技术与应用, 2011, 37(4): 36-40.