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为实现卫星姿态仿真,建立了基于“板卡-PC”的两级高精度链路模拟平台控制系统。该系统采用绝对式光电码盘作为角位置反馈元件,属于电流、速度、位置多闭环系统。控制部分使用复合控制加数字滤波技术,引入饱和限幅及死区补偿模块;根据轨迹特点,设计变参数调节控制器以提高动态性能。实验结果表明,定位精度达到±3″;最低平稳角速度0.0005(°)∕s,误差±0.0001°;随0.2Hz幅值1°的等效正弦波变化,动态误差在3σ条件下小于±9.17″。该控制系统满足高精度模拟平台技术要求。
In order to realize satellite attitude simulation, a two-stage high-precision link simulation platform control system based on “board-PC” was established. The system uses absolute photoelectric encoder as the angular position feedback components, belonging to the current, speed, position and more closed-loop system. The control part uses composite control plus digital filtering technology to introduce the saturation limiting and dead zone compensation module. According to the trajectory characteristics, the variable parameter adjustment controller is designed to improve the dynamic performance. The experimental results show that the positioning accuracy is ± 3 “, the minimum steady angular velocity is 0.0005 (°) / s, and the error is ± 0.0001 °. The dynamic error is less than ± 9.17” at 3σ with an equivalent sine wave amplitude of 1 Hz at 0.2 Hz . The control system meets the technical requirements of high-precision analog platform.