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为了提高惯性动量轮的输出力矩精度,针对惯性动量轮存在的内干扰力矩,提出一种基于干扰观测器的扰动抑制策略.通过建立惯性动量轮动力学模型,分析得出目前的惯性动量轮力矩控制不能无差地跟随阶跃力矩指令,进而设计了干扰观测器,并根据估计出的扰动力矩计算得到补偿控制电压.设计控制系统并采用该方法,在惯性动量轮工程样机上进行实验研究.结果表明:采用基于干扰观测器的扰动抑制策略,使惯性动量轮输出力矩精度从0.01 N·m提高到0.002 N·m,转速和力矩响应曲线更平滑.
In order to improve the output torque accuracy of inertial momentum wheel, a disturbance observer-based disturbance rejection strategy is proposed in view of the internal disturbance torque existing in inertia momentum wheel. The inertial momentum wheel torque The control can not follow the step torque command without any difference, and then the disturbance observer is designed, and the compensation control voltage is calculated according to the estimated disturbance torque.The control system is designed and used in this experiment. The results show that the output torque accuracy of inertial momentum wheel is improved from 0.01 N · m to 0.002 N · m with disturbance observer based disturbance rejection strategy, and the speed and torque response curves are smoother.