摘要
双框架磁悬浮控制力矩陀螺(Double-gimbal magnetically suspended control moment gyroscope,DGMSCMG)的框架伺服系统是一个多变量、非线性且强耦合的复杂系统.为了进一步提高框架伺服系统的控制精度,本文提出了一种基于电流模式的动态逆系统解耦方法,通过对功放系统的动态补偿有效克服了未建模动态对解耦性能的影响,采用自适应滑模控制器有效提高了系统的跟踪特性.
The gimbal servo-system of a double-gimbal magnetically suspended control moment gyroscope（DGMSCMG） is a complex system owing to its characteristics including multivariate,nonlinearity and strong gyroscopic coupling.This paper proposes a current-mode dynamic inverse decoupling method and introduces dynamic compensation for the power amplifier system to overcome the influence of the unmodeled dynamics on the decoupling performance.Meanwhile,adaptive sliding mode control is employed to improve the tracking performance of the controlled plant.The comparative simulation results demonstrate the effectiveness and superiority of this method.
出处
《自动化学报》
EI
CSCD
北大核心
2013年第5期502-509,共8页
Acta Automatica Sinica
基金
国家自然科学基金(61021063)资助~~
关键词
双框架磁悬浮控制力矩陀螺
框架伺服系统
动力学耦合
动态逆解耦
动态补偿
Double-gimbal magnetically suspended control moment gyroscope（DGMSCMG）
gimbal servo system
dynamic coupling
dynamic inverse decoupling
dynamic compensation
