磁悬浮控制力矩陀螺框架系统谐波减速器的迟滞建模

Hysteresis modeling for harmonic drive in DGMSCMG gimbal system

为了抑制双框架磁悬浮控制力矩陀螺(DGMSCMG)框架伺服系统中谐波减速器固有的迟滞特性对系统精度的影响,提出了一种基于Preisach模型的谐波减速器迟滞特性建模方法。首先,使用一阶回转曲线法采集谐波减速器的柔轮输出力矩与扭转角,获得建立谐波减速器迟滞模型的实验数据,其中谐波减速器柔轮的输出力矩是在不使用力矩传感器的条件下用系统动力学模型估计得到的;然后,使用Preisach模型对谐波减速器柔轮输出力矩与扭转角迟滞关系进行建模;最后,采用将模型离散化的数字型实现方法辨识模型中的权重函数,并给出模型的离散递归算法使模型利于简易化编程与进一步的在线控制。实验结果显示,谐波减速器的迟滞模型误差不超过0.005°,MSE值不超过(0.000 83%)°。结果显示了所述建模方法的正确性和实用性。

To counteract the hysteresis introduced by a harmonic drive and to improve the precision of a Double Gimbal Magnetically Suspended Control Moment Gyroscope （DGMSCMG） gimbal system,a modeling method of hysteresis characteristics of the harmonic drive was proposed.Firtly,the firstorder reversal curve method was used to capture the outputting torque of the flexible gear and the torsion angle of the harmonic drive and to obtain the data to establish the hysteresis model of the harmonic drive,in which the outputting torque of the flexible gear was estimated by a system dynamic model instead of a direct measurement from the torque sensor.Then,the Preisach model was used to establish the hysteresis relationship between the outputting torque of the flexible gear and the torsion angle of the harmonic drive.Finally,the modeling was discretized and its weighting function was then well mapped by applying mathematical implementation.Furthermore,a discrete recursive algorithm of the model was also provided for simply programming and further on-line controlling.Results of the carefully designed experiments conducted on the DGMSCMG show that the deviation between calculated and measured torsion angles is limited within a 0.005° range,and the MSE value is under （0.000 83％）°.These results show that the model well predicts the hysteresis of the system.