基于扩张状态观测器的DGMSCMG框架伺服系统振动抑制方法

针对带有谐波减速器的双框架磁悬浮控制力矩陀螺(DGMSCMG)框架系统存在较低频率谐振点的问题,提出了一种基于扩张状态观测器(ESO)振动抑制的控制方法。在谐波减速器的输入端和输出端分别设计三阶扩张状态观测器,通过电机及负载端的角位置信号不但能够估计电机和负载的角速率,而且可以比较准确地估计到扭转刚度的非线性变化及外部扰动力矩引起的综合扰动,通过反馈及前馈补偿对综合扰动进行抑制。设计的基于扩张状态观测器的控制器抑制了框架伺服系统的振动、提高了框架的速率输出精度。仿真及实验结果表明了该控制算法是有效的并具有较强的鲁棒性。

Study on System Vibration Suppression Method Based on ESO Used in Gimbal Servo System of DGMSCMG

In view of the problem of low-frequency resonance point existing in the double gimbal magnetically suspended control moment gyro (DGMSCMG) system with harmonic drive, a vibration suppression control method based on the extended state observer (ESO) is presented. Third-order ESOs are separately designed at the input side and the output side of the harmonic drive. Not only the angular rate of motor and load, but also the non-linear variation of torsional stiffness and integrated disturbance deduced from outer disturbance moment can be estimated accurately by the angular position signal of the motor and load side. The integrated disturbance can be suppressed by feed-back and feed-forward compensation. The new controller suppresses the vibration of gimbal servo system and improves angular precision of the gimbal. Simulation and experimental results show the control algorithm proposed in this article is feasible and has strong robustness.