基于干扰观测器的惯性动量轮高精度控制

张聪; 刘刚; 李光军

基于干扰观测器的惯性动量轮高精度控制

北京航空航天大学仪器科学与光电工程学院, 北京 100191

基金项目: 国家杰出青年科学基金资助项目(60825305); 国家自然科学基金资助项目(61174003)

详细信息

中图分类号: V 488.22
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- 被引次数: 0
出版历程
- 收稿日期: 2011-11-07
- 网络出版日期: 2013-01-31

High-precision control for inertia momentum wheel based disturbance observer

School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 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.
- 扰动抑制 /
- 力矩控制 /
- 补偿
Abstract: To improve the output torque accuracy, a novel disturbance rejection strategy was presented with disturbance observer, based on the internal disturbance torque of inertia momentum wheel. By establishing the dynamic model of inertia momentum wheel, the existing torque control system was analyzed. The analysis results indicated that the torque control couldn't track the torque instruction without deflection, essentially. The proposed disturbance observer was designed. According to the estimated disturbance torque, the compensation control voltage was calculated. Ultimately, the control system was designed to carry out experimentations on the prototype of inertia momentum wheel. Experimental results demonstrate that the output torque accuracy can be improved from 0.01 N穖 to 0.002 N穖 by the disturbance rejection strategy. And the rotational speed and torque response curves are more smooth.
- disturbance rejection /
- torque control /
- compensation

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参考文献(16)

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