MSCMG框架伺服系统非线性摩擦力矩建模与实验研究

在磁悬浮控制力矩陀螺(MSCMG)中,由于陀螺耦合力矩的影响,使得陀螺框架系统的摩擦力矩随着陀螺输出力矩和框架角位置的不同而发生变化,为了实现控制力矩陀螺输出力矩的高精度控制,需要对摩擦力矩进行精确建模。对控制力矩陀螺框架系统进行了动力学研究,分析了摩擦力矩随陀螺输出力矩和框架角位置的变化机理和变化规律,并据此建立了磁悬浮控制力矩陀螺框架系统的非线性摩擦力矩模型和非线性动力学模型。用实验数据对非线性动力学模型参数进行了最优最小二乘辨识,并用所得到的模型进行实际数据分析和仿真研究,仿真结果与实际实验数据非常吻合,验证了所建立模型的正确性和有效性。

Nonlinear Dynamic Modeling and Experimental Study of Friction Moment for Gimbal Servo-System Used in Magnetically Suspended Control Moment Gyroscope

For magnetically suspended control moment gyroscope(MSCMG),the friction moment of the gimbal servo-system varied with the output force moment and the gimbal's angle position.In order to achieve high accuracy output force moment,a accurate friction model need to be built.This paper studied the dynamics of the magnetically suspended control moment gyroscope's gimbal system,analysed the mechanism and disciplinarian of the friction moment which was related to output force moment and gimbal's angle position,and established the nonlinear friction moment model and nonlinear dynamic model of the gimbal servo-system.The parameter of the nonlinear dynamic model was identified by the least squares estimation method using the experimental data.Then the experimental data and the identified model were used for analysis and simulation.The simulation result which can fit the actual experimental data very well proved the correct and effective of the friction moment's nonlinear model.