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控制力矩陀螺(CMG)框架系统的速率控制精度是影响其输出力矩精度的重要因素,系统中谐波减速器提高了框架系统的动态响应能力,但其产生的机械谐振大幅降低了系统的控制精度。为抑制框架系统的谐振并满足系统的控制精度,本文建立了框架系统的动力学模型,根据系统动态性能要求选取合适的阻尼系数来设计系统主导极点,使控制器产生的零点与机械谐振对应的极点重合形成偶极子,从而抑制系统的机械谐振。仿真和实验结果显示:提出的方法有效地抑制了控制力矩陀螺框架系统的谐振,0.175rad/s恒速控制精度为0.002,0.175sin(2πt)rad/s正弦随动控制的幅值相对误差为3.28%,相位差为0.13rad。结果很好地满足了控制力矩陀螺的高精度输出力矩需求。
The rate control accuracy of CMG frame system is an important factor affecting the output torque accuracy. The harmonic reducer in the system improves the dynamic response capability of the frame system, but its mechanical resonance greatly reduces the control accuracy of the system . In order to restrain the resonance of the frame system and satisfy the control accuracy of the system, a dynamic model of the frame system is established in this paper. According to the dynamic performance requirements of the system, a suitable damping coefficient is chosen to design the dominant pole of the system, so that the zero point generated by the controller corresponds to the mechanical resonance The poles coincide to form dipoles, thereby suppressing the mechanical resonance of the system. The simulation and experimental results show that the proposed method can effectively restrain the resonance of the gyro-frame system. The accuracy of 0.175rad / s constant speed control is 0.002 and the relative error of the amplitude of 1.7575sin (2πt) rad / s sinusoidal servo control is 3.28% with a phase difference of 0.13 rad. The results well meet the control torque gyro high-precision output torque requirements.