积分反馈自抗扰控制力矩陀螺框架伺服系统设计

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。

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

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 system 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 gimbal servo system which used the ADRC as a speed loop was built up in Matlab. Finally, the hardware experiments 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 using the ADRC., and that is 0.001-0.005 rad/s and the crawling speed is 0.003 rad/s when the step velocity of 0.0-0.1 rad/s is tracked by using the ADRC with integral feedback. Furthermore, the relative amplitude 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.