控制力矩陀螺框架高精度周期随动控制

徐向波; 李海涛; 薛立娟; 杨莲慧

控制力矩陀螺框架高精度周期随动控制

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973计划资助项目(2009CB724000)

详细信息

中图分类号: TP 271
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出版历程
- 收稿日期: 2011-05-13
- 网络出版日期: 2012-08-30

High precision periodic control method of control moment gyro gimbal system

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

摘要

摘要: 为实现控制力矩陀螺框架伺服系统的高精度周期随动控制,采用比例积分微分(PID,Proportion Integration Differentiation)控制器结合重复控制器的控制方式,PID控制器实现框架伺服系统静态和匀速运动的高精度控制,插入式重复控制器实现对周期性输入信号的精确跟踪.对控制力矩陀螺框架系统进行了建模,设计了PID控制器与插入式重复控制器,并分析了重复控制器的稳定性条件、稳态跟踪性能和对扰动的抑制能力.仿真结果和实验结果表明:采用插入式重复控制器使控制力矩陀螺跟踪1Hz给定速度信号时的稳态跟踪误差大幅减少.PID控制器结合插入式重复控制器结构简单,两者可分开独立设计,参数设计容易.
- 控制力矩陀螺 /
- 周期随动控制 /
- 插入式重复控制器 /
- 稳态跟踪误差
Abstract: In order to realize high periodic precision control of control moment gyro (CMG) gimbal system, a controller consisted of proportiona integration differention (PID) controller and plug-in repetitive controller was adopted. PID controller can realize high precision control of static state and uniform speed state, while plug-in repetitive controller can realize accurate tracking of periodic given signal. CMG gimbal system modeling was performed, and the PID controller and plug-in repetitive controller were designed, then stability conditions, steady tracking properties and ability of suppressing disturbance were analyzed. Simulation and experiment results show plug-in repetitive controller can effectively reduce steady tracking error when CMG gimbal system tracks a 1Hz periodic given velocity signal. The structure of the controller is simple and the plug-in repetitive controller can be designed separated from system’s PID controller, so it is easy to design parameters.
- control moment gyro /
- periodic control /
- plug-in repetitive controller /
- steady tracking error

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参考文献(11)

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