SGCMG框架伺服系统扰动力矩分析与控制

Analysis and Control of Disturbance Torque in SGCMG Gimbal Servo System

单框架控制力矩陀螺框架伺服系统对扰动力矩抑制能力的不足限制了其控制精度的进一步提高。文章对框架伺服系统受到的扰动力矩及其对框架伺服系统控制性能的影响进行了分析;设计了基于终端滑模变结构控制策略和扰动观测器的框架转速控制器;利用变结构控制对系统干扰的不变性和对滑动模态控制的快速响应特性,实现了框架伺服系统在扰动力矩波动,尤其是高频扰动力矩波动条件下的高精度控制。仿真结果表明,相比传统的比例-积分-微分控制策略,提出的控制方法可行有效,将框架转速波动量缩小了2/3。

Deficient capability of disturbance torque attenuation restricts further improvements on the speed control performance of control moment gyro gimbal servo system.Based on the analysis of controller combined with the disturbance torque and its influences, a terminal variable structure disturbance observer was proposed. Utilizing the characteristics of invariance and fast response of the variable structure controller, high precision control was realized under the condition of disturbance torque fluctuations especially high frequency disturbance torque fluctuations. Simulation results show that the proposed method is feasible and efficient. Comparing with the proportional integral derivative controller, the speed fluctuating quantity decreases more than 2/3.