基于CMAC的CMG框架伺服系统摩擦补偿方法研究

Friction Compensation Based on CMAC for Gimbal Servo System Used in CMG

为消除磁悬浮控制力矩陀螺(MSCMG)框架伺服系统摩擦的影响,对陀螺框架系统进行动力学分析,分析了摩擦力矩随陀螺输出力矩和框架角位置及角速度的关系,建立了框架系统的非线性摩擦力矩模型。针对此摩擦模型,采用基于CMAC神经网络的摩擦补偿方式进行补偿。根据实际磁悬浮控制力矩陀螺的系统参数建立仿真模型,仿真结果验证了基于CMAC神经网络摩擦补偿的有效性。

In order to eliminate the friction made by the MSCMG framework servo system, the gyro architecture was analyzed through dynamics methods first. The relation among output moment of gyro followed by friction moment, the position of framework angle and the angle speed was analyzed, A nonlinear friction moment model of MSCMG framework system was established. Aiming at the model established above, the friction compensation method based on CMAC neural network was adopted. A simulation model was established according to the actual parameter of MSCMG system. The result of simulation proves that the efficacy of friction compensation based on CMAC neural network.