积分反馈自抗扰控制力矩陀螺框架伺服系统设计

Design of gimbal servo system of CMG using active disturbance rejection control with integral feedback

设计了永磁同步电机直驱的控制力矩陀螺(CMG)框架伺服系统,并提出积分反馈自抗扰控制(ADRC)伺服跟踪算法用于实时跟踪CMG操纵律输出的框架角速度指令。首先,采用电机轴电流id=0的矢量控制策略建立了CMG框架伺服系统的数学模型;然后,分析摩擦力矩和齿槽力矩对CMG框架伺服系统性能的影响,并在Matlab中搭建速度环采用ADRC的框架伺服仿真系统;最后,对框架伺服系统的速度环分别采用模糊PI、ADRC、积分反馈ADRC算法进行实验。实验结果表明:采用积分反馈ADRC算法跟踪0.1～2.0rad/s时,稳态精度为0.005～0.012rad/s;跟踪0.0～0.1rad/s时,稳态精度为0.001～0.005rad/s,临界爬行速度为0.003rad/s;跟踪2sin(t)rad/s速度曲线时,幅值误差为0.55%,相位滞后0.09978rad。结果满足CMG框架伺服系统精度高、鲁棒性强的要求。

The gimbal servo system for a Control Moment Gyroscope（CMG） directly driven by a Permanent Magnet Synchronous Motor （PMSM） was designed, and an Active Disturbance Rejection Control（ADRC） algorithm with integral feedback was proposed. Firstly, the mathematic model for the CMG gimbal servo sys- tem was built by using an oriented control strategy in shaft current id =0. Then, the effects of both frictional and alveolar torques on the performance of gimbal servo system were analyzed. A simulation system for gim- bal servo system which used the ADRC as a speed loop was built up in Matlab. Finally, the hardware experi- ments of fuzzy PI, ADRC and the ADRC with integral feedback were carried out. Test and experiments show that the steady state accuracy is 0. 005--0. 012 rad/s when a step velocity of 0. 1--2.0 rad/s is tracked by u-sing the ADRC. , and that is 0. 001--0. 005 rad/s and the crawling speed is 0. 003 rad/s when the step veloci- ty of 0.0--0. 1 rad/s is tracked by using the ADRC with integral feedback. Furthermore, the relative ampli- tude error is 0.55% and the phase error is 0. 099 78 rad, when the gimbal system tracks the 2sin（t） rad/s by using the ADRC with integral feedback. The proposed gimbal servo system of CMG satisfies the demands of high precision and robustness.