一种双框架磁悬浮控制力矩陀螺框架伺服系统扰动抑制方法研究

为了抑制谐波减速器运动误差对双框架控制力矩陀螺伺服系统速率平稳性的影响， 提 出一种角加速度反馈的控制方法。建立了带有谐波减速机构的陀螺框架系统的数学模型，对 谐波减速器的运动误差进行了分析。通过设计非线性微分跟踪器得到加速度信号构成加速度 反馈，对谐波减速器运动误差所造成的速率波动进行抑制。对框架伺服系统进行仿真，仿真 结果证明了该控制方法的有效性，在双框架磁悬浮控制力矩陀螺原理样机上进行了实验验证 ，实验结果表明，在5度／秒的转速情况下，使框架转速波动量减小了59％，显著提高了 转速精度.

Study on the System Disturbance Rejection Method Used in the Gimbal Servo System of Double Gimbal Magnetically Suspended Control Moment Gyro

In order to suppress the influence on the stability of velocity of gimbal servo system, a aceeleration feedback meth-od was presented. This paper analyses the kinematic error of the hannonic drive, the model of the gimbal with a harmonic drive was built. The algorithm of acceleration feedback was formed via the design of the nonlinear tracking differentiator to get the accel-eration signal, and the fluctuation which caused by the kinematic error was depressed by this method. In this paper a software sim-ulation is designed. The simulation result proved that this algorithm is effective. At last, an experiment was designed using the in-ner gimbal of the double gimbal magnetically saspended control moment gym, the fluctuation for speed curve reduces 66% when the inner gimbal rotates at 5°/s.