基于简化FXLMS算法的磁悬浮控制力矩陀螺动框架效应精确补偿方法实验研究

磁悬浮控制力矩陀螺（MSCMG）是一种用于航天器姿态控制的高精度长寿命惯性执行机 构，动框架效应补偿是MSCMG实现高精度性能的关键技术之一。然而现有的FXLMS补偿算法由 于模型复杂、计算量大而难以实际应用。通过分析MSCMG磁轴承对象特性，提出一种简化FXL MS算法，将对象滤波器简化为常数对角阵，大幅度减少了算法计算量。对简化算法进行了仿 真，并在MSCMG样机上面进行了动框架效应补偿实验。实验结果表明：简化后的自适应控制 系统，收敛性好，跟踪速度快，具有理想的精度和较强的鲁棒性。

Experimental Research on Accurate Compensation of Moving-Gimbal Effects Based on Simplified FXLMS Algorithm in Magnetically Suspended Control Moment Gyroscope

Magnetically Suspended Control Moment Gyroscope (MSCMG) is a kind of high precision long life torque producing actuator which is usually used in spacecraft. Accurate compensation of moving-gimbal effects is one of the key technologies in high precision MSCMG. But complex model and much higher computation cost has limited its application. Through analyzing object properties, this paper presents a simplified FXLMS algorithm. In this algorithm, the object filter is replaced by constant diagonal matrix. As a result, the computation cost decreases greatly. The simulation and experiment are presented to verify the method. The experimental results indicate that the adaptive control system based on simplified FXLMS algorithm has the property of good convergence, fast response, enough precision and strong robustness.