一种高性能控制力矩陀螺框架控制方法的仿真研究

由控制力矩陀螺群构成的姿态控制系统是目前敏捷卫星实现姿态快速机动和精确控制的最佳选择,而低速框架的控制精度、响应速度与稳定性直接决定了控制力矩陀螺的工作性能.针对敏捷卫星对控制力矩陀螺工作性能的高要求,本文提出了一种框架的高性能控制方案——基于永磁同步电机及磁场定向控制算法,并结合框架角速度观测器的直接驱动控制方案.在框架角速度极低时,为解决角度传感器的分辨率无法满足控制精度要求的问题,引入Luenberger状态观测器获得框架角速度的观测值,并将该观测值引入框架角速度闭环控制系统.理论分析、仿真实验的结果证明了该方案的有效性.随后,针对电机参数漂移对观测值的影响进行了仿真分析,仿真结果证明了基于观测器的角速度闭环控制系统的鲁棒性.

Simulation Study on a High Performance Gimbal Control Method for Control Momentum Gyro

The attitude control system constructed by a cluster of control momentum gyro(CMG) is the best choice to meet the rapid attitude maneuvering and accurate control requirements of today’s agile satellites.Meanwhile,the control accuracy,response speed as well as stability of the gimbal control assembly determine the CMG performance directly.Focusing on the high performance requirement for agile satellites,a high performance gimbal control method is proposed,by employing the permanent magnetic synchronous motor(PMSM) with the field oriented control(FOC) algorithm,and utilizing a gimbal rate observer to drive the gimbal mechanical assembly directly in this paper.In order to solve the problem that the resolving rate of normal angular sensors are difficult to meet the accuracy requirement,a Luenberg state observer is introduced to obtain the observed gimbal rate value in the extremely low rate condition.The observed value is introduced into the closed loop system of gimbal rate thereby.Theoretical analysis and simulation experiments have proved the validity of the proposed method.Then,a simulation work is done to aim at studying the effect of motor parameter drifting on the observed value.The simulation results have demonstrated the robust performance of the proposed observer based closed-loop rate control system.