柔性支撑控制力矩陀螺动力学建模与控制

针对柔性支撑引起控制力矩陀螺(CMG)框架控制性能下降的问题，建立了柔性支撑条件下控制力矩陀螺的动力学模型，分析了柔性支撑扰动力矩的耦合机理并给出了解析模型.据此，设计了一种积分滑模控制策略，用于提升对CMG框架动力学特性变化和新增扰动力矩的鲁棒性.仿真结果表明，该控制策略相比传统的PID控制具有更好的动态过程和稳态性能，提升了柔性支撑下控制力矩陀螺框架速度的闭环控制性能.

Dynamic Modeling and Control of Flexible Support Control Moment Gyroscope

To solve the problem of gimbal control performance decreasing caused by flexible support disturbance in control moment gyroscope (CMG), a dynamic model of single gimbal control moment gyroscope (SGCMG) with flexible support is estabished, the coupling mechanism of the disturbance with the influence of flexible support is analyzed and the analytical model is given. Based on modeling and analysis, an integral sliding mode control strategy is adopted to achieve strong robustness to gimbal dynamics changes and new disturbance torque. Simulation results show that the proposed control strategy realizes better dynamic process and steady state performance comparing with PID control strategy, and improves the closed loop control performance of control moment gyro gimbal system under flexible support.