| 高精度低连接刚度大惯量扫描镜控制系统设计 |
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| 引用本文： | 闵溢龙,王淦泉.高精度低连接刚度大惯量扫描镜控制系统设计[J].宇航学报,2021,42(2):220-229. |
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| 作者姓名： | 闵溢龙 王淦泉 |
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| 作者单位： | 1. 中国科学院大学，北京 100049；2. 中国科学院上海技术物理研究所，上海 200083；3.
中国科学院红外探测与成像技术重点实验室，上海 200083 |
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| 基金项目： | 中国科学院青年创新促进会人才计划（Y201951） |
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| 摘 要： | 针对三轴稳定卫星内低连接刚度条件下的大惯量扫描镜负载在低速摆动时易出现机械谐振的问题，基于电流-速度-位置三闭环控制结构，研究并提出一种有效的易于工程实现的优化控制方法，抑制机械谐振同时提高扫描镜系统的控制性能。首先，根据动力学关系对低刚度连接的电机与扫描镜控制对象建立理论的简化控制模型。然后，分析加速度反馈抑制谐振、提高系统控制性能的原因，并借助电流和位置反馈信号建立加速度观测器获取电机加速度并反馈，仿真分析该方法的优化效果。最后，在实际系统上进行实验检验，对比系统控制误差的变化。结果表明：提出的优化控制方法能够有效地抑制机械谐振，提高系统的控制带宽和动态精度。
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| 关 键 词： | 三轴稳定卫星 大惯量负载 扫描镜 机械谐振 运动控制 控制性能 加速度观测器 |
| 收稿时间： | 2020-02-05 |
Design of High Accuracy Scanning Mirror Control System
with LargeInertia and Low Stiffness Connection |
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| MIN Yi long,WANG Gan quan.Design of High Accuracy Scanning Mirror Control System
with LargeInertia and Low Stiffness Connection[J].Journal of Astronautics,2021,42(2):220-229. |
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| Authors: | MIN Yi long WANG Gan quan |
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| Affiliation: | 1. University of Chinese Academy of Sciences, Beijing
100049, China; 2. Shanghai Institute of Technical Physics of the
Chinese Academy of Sciences, Shanghai 200083, China; 3. CAS Key Laboratory of
Infrared System Detection and Imaging Technology,
Shanghai 200083, China |
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| Abstract: | For a three axis stabilized satellite, the
mechanical resonance caused by high inertia load and low stiffness connection
is easy to occur in its low speed scanning mirror motion control system. Based
on the current speed position
control structure, an optimized control method that is effective and easy to be
implemented in engineering is investigated and proposed. The mechanical
resonance is suppressed and the control performance is improved for the
scanning mirror system. Firstly, a theoretical simplified control model is
established based on the dynamic relationship between the low stiffness
coupling system of the motor and the large inertia scanning mirror. Then, we
analyze the reason that the acceleration feedback suppresses the resonance and
improves the control ability of the system, use the current and position
feedback signals to establish an acceleration observer to obtain the motor
acceleration and feedback, and analyze the optimization effect of the method by
simulation. Finally, we carry out the experimental verification on an actual
system and compare the changes of the system control errors. The experimental
results show that the proposed control method can effectively suppress the
mechanical resonance, and increase the bandwidth and dynamic accuracy of the
motion control system. |
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