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超低转速下,框架的测速精度是影响控制力矩陀螺框架系统控制精度的重要因素。针对超低转速下使用传统一阶后向差分方法计算转速会导致噪声放大的问题,给出了一种基于非线性跟踪微分器的实时速度估计方法,以及该方法基于四阶龙格库塔法的离散表达公式。提出了一种复合的测速策略,解决了直接使用跟踪微分器计算转速的跟踪延迟问题。进行了数值仿真分析和试验验证,仿真结果表明,所提出的测速方法有效降低了传感器输出的量化噪声和测量噪声对速度测量精度的影响;试验测试结果统计表明,相比传统的后向差分法,采用跟踪微分器计算转速,框架速度的波动量减小了67.1%。
Under the condition of ultra-low speed, the precision of the frame’s velocity measurement is an important factor that affects the control precision of the control moment gyroscope system. Aiming at the problem of noise amplification caused by the calculation of rotating speed using the traditional first-order backward difference method at very low revolving speed, a real-time speed estimation method based on nonlinear tracking differentiator is given. The method is based on fourth-order Runge-Kutta Discrete expression formula. A composite speed measurement strategy is proposed to solve the tracking delay problem of using the tracking differentiator directly to calculate the speed. The simulation results show that the proposed velocity measurement method can effectively reduce the influence of the quantization noise of the sensor output and the measurement noise on the speed measurement accuracy. The experimental test results show that compared with the traditional backward difference method , Using tracking differentiator to calculate rotation speed, the fluctuation of frame speed is reduced by 67.1%.