北京航空航天大学学报 ›› 2012, Vol. ›› Issue (11): 1497-1501.

• 论文 • 上一篇    下一篇

基于ADRC的MSCMG框架系统高精度控制

薛立娟, 李海涛, 李红, 徐向波   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2011-06-30 出版日期:2012-11-30 发布日期:2012-12-07

High precision control based on ADRC used in gimbal system of MSCMG

Xue Lijuan, Li Haitao, Li Hong, Xu Xiangbo   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2011-06-30 Online:2012-11-30 Published:2012-12-07

摘要: 针对非线性摩擦和外部随机扰动影响磁悬浮控制力矩陀螺(MSCMG, Magnetically Suspended Control Moment Gyroscope)框架系统角速率精度的问题,提出了一种基于自抗扰控制器(ADRC, Active Disturbance Rejection Controller)的高精度转速控制方法.通过三阶扩张状态观测器将框架系统负载力矩、非线性摩擦力矩及外部随机扰动力矩作为"总扰动"进行估计,并对该扰动力矩进行补偿.仿真及实验结果表明:基于自抗扰控制器的框架系统控制方法使框架转速精度和稳定度提高了50%以上,且具有抗干扰能力强和动态特性好的特点.

Abstract: Aiming at solving the problems that speed precision would be influenced by nonlinear friction and external random disturbance existing in magnetically suspended control moment gyroscope(MSCMG), a high-precision speed control method was proposed based on active disturbance rejection controller(ADRC). The load torque, nonlinear friction torque and the external disturbance torque of the gimbal system were compensated after they were estimated as the "total disturbance" by a third-order extended state observer. Simulation and experimental results show that the control method based on ADRC can improve the velocity precision and stability of the gimbal system by more than 50%, and has the characteristics of strong anti-interference ability and good dynamic behavior.

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