摘要
针对双功能飞轮系统在能量存储与姿态调整的过程中,飞轮电机一体化单元模型参数变化较大、难于控制等问题,提出一种积分分离式分段PID复合控制算法。该方法在系统开始调节时采用PD控制,当系统姿态调整接近稳态值时,再引入积分环节,通过积分环节的引入消除系统静差,同时考虑系统在不同控制电压范围内数学模型不同的特点,调节系统模型参数,从而实现系统储能的同时完成高精度姿态控制。初步实验结果表明,采用该算法在储能与姿态调整过程中,系统姿态控制精度达到了1°,折算到百公斤级卫星,其控制精度可达1.2′。
Facing the fact that there are significant changes of the model parameters in flywheel - motor unit and difficulty in the process of attitude control, the PID compound control algorithm with integral separation and formula partition used in energy storage and attitude regulation is put forward. The PD control algorithm is adopted in the start of attitude regulation, while the integral control is introduced as the attitude adjusted to the stable value, as a result, the systematic static error can be eliminated; at the same time, the parameters of system model are adjusted according to the characteristics of different models in different control voltage range so as to realize high precision attitude control in the process of energy storage. Experiments showed that the attitude control stabilized within 1°in the course of energy storage and attitude regulation, to the satellite the control accuvacy can be less than 1.2＇.
出处
《长春理工大学学报（自然科学版）》
2007年第2期1-5,共5页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
中国科学院预研项目资助(42201030108)
关键词
双功能飞轮
积分分离式分段PID控制
姿态控制
数学模型
double function flywheel
PID control with integral separation and formula partition
atti-tude control
mathematical model
