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基于自适应反步的DGMSCMG框架伺服系统控制方法

李海涛 闫斌

李海涛, 闫斌. 基于自适应反步的DGMSCMG框架伺服系统控制方法[J]. 北京航空航天大学学报, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282
引用本文: 李海涛, 闫斌. 基于自适应反步的DGMSCMG框架伺服系统控制方法[J]. 北京航空航天大学学报, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282
LI Haitao, YAN Bin. Adaptive backstepping control method used in DGMSCMG gimbal servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282(in Chinese)
Citation: LI Haitao, YAN Bin. Adaptive backstepping control method used in DGMSCMG gimbal servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282(in Chinese)

基于自适应反步的DGMSCMG框架伺服系统控制方法

doi: 10.13700/j.bh.1001-5965.2015.0282
基金项目: 国家自然科学基金(61203112)
详细信息
    作者简介:

    李海涛 男,博士,讲师,硕士生导师。主要研究方向:电机伺服控制、非线性控制等。 Tel.: 010-82339273 E-mail: haitaoli@buaa.edu.cn;闫斌 男,硕士研究生。主要研究方向:电机伺服控制、非线性控制。 Tel.: 010-82339273 E-mail: zoowrvyhk@buaa.edu.cn

    通讯作者:

    李海涛, Tel.: 010-82339273 E-mail: haitaoli@buaa.edu.cn

  • 中图分类号: TP394.1;TH691.9

Adaptive backstepping control method used in DGMSCMG gimbal servo system

Funds: National Natural Science Foundation of China (61203112)
  • 摘要: 针对双框架磁悬浮控制力矩陀螺(DGMSCMG)内、外框架伺服系统耦合力矩及传动机构的非线性传动特性影响框架角速率精度的问题,提出一种基于自适应反步的非线性鲁棒控制器的设计方法。首先分别就双框架伺服系统耦合力矩及框架传动机构的非线性传动特性对系统稳定性和角速率精度的影响进行分析;其次利用反步理论,通过构造适当的Lyapunov函数并逐级反推得到控制律,保证参数估值的收敛性和系统的全局稳定性;最后通过仿真分析并以小型DGMSCMG系统为对象进行实验,结果表明:与电流前馈控制比较,所提出的自适应反步控制方法,既增强双框架伺服系统的扰动抑制能力,又提高框架角速率精度。

     

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出版历程
  • 收稿日期:  2015-05-06
  • 修回日期:  2015-08-06
  • 刊出日期:  2016-04-20

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