摘要
为满足卫星姿态控制系统对单框架控制力矩陀螺(SGCMG)转子转速的动态以及稳态性能要求,提出了一种基于遗传算法拟双环-锁相环的双模控制方法,并在该方法中引入干扰力矩补偿控制,进而实现干扰情况下的稳速控制。为模拟电流环和转速环控制,利用遗传算法优化两组比例-积分(PI)参数组成参数可变的拟双环控制器,与锁相环组成双模控制可实现转速的快响应、低超调和高精度控制。针对SGCMG框架转动对转子转速产生扰动的问题,分析了扰动产生的原因,推导并结合实验数据得出了框架转速■与干扰力矩T_d的关系,在此基础上设计角速率前馈控制器,以力矩补偿的方式对干扰进行抑制。最终,转速波动可抑制到无补偿情况的15%,在期望转速4000 r/min的情况下,转速稳态误差小于0.045%。
To meet the dynamic and steady performance requirements of the satellite attitude control system on the rotor speed of the Single-Gimbal Control Moment Gyro(SGCMG),a dual-mode control method based on genetic algorithm for quasi-dual-loop and phase-locked loop is presented,and the disturbance torque compensation control is introduced to realize the steady speed control of the rotor under interference.To simulate the current loop and speed loop control,the genetic algorithm is used to optimize the two sets of Proportional-Integral(PI) parameters to form a quasi-double loop controller with variable parameters.The dual-mode control consisting of the quasi-double loop controller and the phase-locked loop can realize high-precision control with fast response speed and low overshoot.For the problem that the rotation of the SGCMG frame disturbs the rotor speed,the causes of the disturbance are analyzed.The relationship between the frame speed ■ the disturbance torque T_d is derived by using experimental data.On the basis of the dual-mode controller,the angular rate feedforward controller is designed to suppress the interference in the form of torque compensation,and the fluctuation of the speed can be suppressed to 15% of that under no-compensation conditions.The steady-state error of speed is less than 0.045% when the desired speed is 4000 r/min.
作者
林鲁超
徐开
陈长青
李峰
龚泽宇
曲直
LIN Lu-chao;XU Kai;CHEN Chang-qing;LI Feng;GONG Ze-yu;QU Zhi(Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun130000,China;University of Chinese Academy of Sciences Beijing 100000,China;Changguang Satellite Technology Co.Ltd. Changchun 130000,China)
出处
《电光与控制》
CSCD
北大核心
2019年第8期95-100,共6页
Electronics Optics & Control
基金
吉林一号超敏捷卫星的分布式控制力矩陀螺可重构技术研究项目(2010204069GX)
关键词
单框架控制力矩陀螺
遗传算法
双环控制
锁相环
框架干扰补偿
转子稳速
SGCMG
genetic algorithm
double loop control
phase-locked loop
frame interference compensation
steady speed of rotor
