摘要
磁悬浮控制力矩陀螺(MSCMG,Magnetically Suspended Control MomentGyro)是大型航天器姿态控制的关键执行机构,影响MSCMG输出力矩准确度的一个关键因素是其框架伺服系统的控制精度.为提高MSCMG框架伺服系统的抗干扰能力和控制精度,提出了一种基于角加速度的干扰观测器.其设计思想是:卡尔曼滤波器利用角位置估计出角速度并送往状态观测器以获取准确的角加速度,角加速度和电流作为干扰观测器的输入以获得补偿电流,补偿电流加到电流环的输入端以补偿各种干扰.干扰观测器结构简单,抗干扰能力强.实验表明:该方法有效地提高了MSCMG框架伺服系统的角速度精度与稳定度.
Magnetically suspended control moment gyro （MSCMG） is the primary attitude actuator of large spacecraft, and the MSCMG gimbal servo system control precision is one of the main factors which affect gyroscopic torque accuracy. In order to enhance the MSCMG gimbal servo system disturbance suppression abil- ity and control precision, a disturbance observer based on angular acceleration for MSCMG gimbal servo sys- tem was proposed. Using angle, Kalman filter estimates the velocity, which was sent to the state observer to acquire the precise angular acceleration. Angular acceleration and current were used as inputs of disturbance observer to obtain compensatory current. Then the compensatory current was sent to the input of current loop to compensate various disturbances. The disturbance observer has characteristics of simple structure and good disturbance suppression ability. The experimental result shows that this method can effectively improve the velocity precision and stability of the MSCMG gimbal servo system.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2009年第6期669-672,共4页
Journal of Beijing University of Aeronautics and Astronautics
关键词
角加速度
角速度
稳定度
干扰观测器
acceleration
velocity
stability
disturbance observer
