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设计了永磁同步电机直驱的控制力矩陀螺(CMG)框架伺服系统,并提出积分反馈自抗扰控制(ADRC)伺服跟踪算法用于实时跟踪CMG操纵律输出的框架角速度指令。首先,采用电机轴电流id=0的矢量控制策略建立了CMG框架伺服系统的数学模型;然后,分析摩擦力矩和齿槽力矩对CMG框架伺服系统性能的影响,并在Matlab中搭建速度环采用ADRC的框架伺服仿真系统;最后,对框架伺服系统的速度环分别采用模糊PI、ADRC、积分反馈ADRC算法进行实验。实验结果表明:采用积分反馈ADRC算法跟踪0.1～2.0rad/s时,稳态精度为0.005～0.012rad/s;跟踪0.0～0.1rad/s时,稳态精度为0.001～0.005rad/s,临界爬行速度为0.003rad/s;跟踪2sin(t)rad/s速度曲线时,幅值误差为0.55%,相位滞后0.09978rad。结果满足CMG框架伺服系统精度高、鲁棒性强的要求。
The CMG servo system with direct drive of permanent magnet synchronous motor (PMGM) is designed and the feedback feedback control algorithm (ADRC) servo tracking algorithm is proposed to track the angular velocity of the CMG manipulator output in real time. Firstly, the mathematical model of CMG frame servo system is established based on the vector control strategy of motor shaft current id = 0. Secondly, the influence of friction torque and cogging torque on the performance of CMG frame servo system is analyzed. The velocity loop of ADG Frame servo simulation system. Finally, fuzzy PI, ADRC and integral feedback ADRC algorithm are used to test the speed loop of the servo system. The experimental results show that the steady-state accuracy is 0.005 ~ 0.012rad / s when using the integrated feedback ADRC algorithm to track 0.1 ~ 2.0rad / s and the steady-state accuracy is 0.001 ~ 0.005rad / s when the tracking is between 0.0 ~ 0.1rad / The creep velocity is 0.003 rad / s. When tracking the 2 sin (t) rad / s velocity curve, the amplitude error is 0.55% and the phase lag is 0.09978 rad. The results meet the CMG frame servo system with high precision and strong robustness.