控制力矩陀螺框架高精度周期随动控制

为实现控制力矩陀螺框架伺服系统的高精度周期随动控制,采用比例积分微分(PID,Proportion Integration Differentiation)控制器结合重复控制器的控制方式,PID控制器实现框架伺服系统静态和匀速运动的高精度控制,插入式重复控制器实现对周期性输入信号的精确跟踪.对控制力矩陀螺框架系统进行了建模,设计了PID控制器与插入式重复控制器,并分析了重复控制器的稳定性条件、稳态跟踪性能和对扰动的抑制能力.仿真结果和实验结果表明:采用插入式重复控制器使控制力矩陀螺跟踪1Hz给定速度信号时的稳态跟踪误差大幅减少.PID控制器结合插入式重复控制器结构简单,两者可分开独立设计,参数设计容易.

High precision periodic control method of control moment gyro gimbal system

In order to realize high periodic precision control of control moment gyro(CMG) gimbal system,a controller consisted of proportiona integration differention(PID) controller and plug-in repetitive controller was adopted.PID controller can realize high precision control of static state and uniform speed state,while plug-in repetitive controller can realize accurate tracking of periodic given signal.CMG gimbal system modeling was performed,and the PID controller and plug-in repetitive controller were designed,then stability conditions,steady tracking properties and ability of suppressing disturbance were analyzed.Simulation and experiment results show plug-in repetitive controller can effectively reduce steady tracking error when CMG gimbal system tracks a 1Hz periodic given velocity signal.The structure of the controller is simple and the plug-in repetitive controller can be designed separated from system’s PID controller,so it is easy to design parameters.