基于干扰观测器的磁悬浮姿控飞轮电机控制

由于磁悬浮飞轮转子不平衡振动的存在,飞轮力矩/转速控制精度受到影响.为有效地对不平衡振动干扰进行估计,提出了一种针对时变谐波扰动的非线性干扰观测方法,观测器的动态与稳态性能可以根据系统要求设定,具有全局一致收敛性;在非线性干扰观测器的基础上设计变结构控制器对飞轮转速进行控制并对干扰进行补偿,通过改进变结构控制器的滑模函数与控制律系统抖振可以有效地削弱.仿真与实验结果表明:基于非线性干扰观测器的变结构控制器具有很好的扰动抑制能力和动态响应、稳态误差调节能力,可用于实现飞轮输出力矩控制.

Disturbance observer based magnetically suspended reaction attitude flywheel motor control

As the existence of mass unbalance of magnetically suspended flywheel rotor, the precision of output torque/speed of flywheel would be influenced. In order to estimate the unbalance vibration, a nonlinear disturbance observer for time-variation harmonic disturbance was proposed. The dynamic response and steady-stage error regulating characteristics can be adjusted according to systematic requirement. A variable structure controller based on nonlinear disturbance observer was designed for speed control and vibration compensation. By improving the sliding mode function and sign function the chattering can be suppressed. The validity of the control method has been proved by simulation and experiment. The proposed controller is superior in the dynamic response performance, steady-stage error regulating characteristics and disturbance attenuation ability.