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控制力矩陀螺(CMG)是大型航天器姿态控制的关键执行机构,控制力矩陀螺框架系统的控制精度是影响其输出力矩精度的重要因素。为满足框架系统的恒速控制精度和随动控制精度,采用反馈控制与前馈控制相结合的复合控制方法;建立了采用永磁同步电机的框架系统动力学模型,采用矢量控制方法及高精度的角位置和角速度反馈控制有效地提高了恒速控制精度,根据系统传递函数设计了前馈控制器,有效地提高了随动控制精度。实验结果显示:10°/s恒速控制精度为0.0012,10sin(6π)t°/s正弦随动控制的幅值相对误差为0.18dB,相位差为8°,很好地满足了控制力矩陀螺的高精度输出力矩需求。
The control moment gyroscope (CMG) is the key actuator of large spacecraft attitude control. The control accuracy of the control moment gyroscope frame system is an important factor that affects the output torque accuracy. In order to meet the requirements of constant speed control accuracy and follow-up control accuracy of frame system, a composite control method combining feedback control and feedforward control was adopted. A frame system dynamics model with permanent magnet synchronous motor was established. The vector control method and high precision The angular position and angular velocity feedback control effectively improve the precision of constant speed control. The feedforward controller is designed according to the system transfer function, which effectively improves the accuracy of servo control. The experimental results show that the 10% / s constant speed control accuracy of 0.0012, 10sin (6π) t ° / s sine follow-up control of the amplitude relative error of 0.18dB, the phase difference of 8 °, well to meet the control moment gyroscope High-precision output torque requirements.