CN112230544B - Method for suppressing interference of flexible support of control moment gyro frame system - Google Patents
Method for suppressing interference of flexible support of control moment gyro frame system Download PDFInfo
- Publication number
- CN112230544B CN112230544B CN202011087924.1A CN202011087924A CN112230544B CN 112230544 B CN112230544 B CN 112230544B CN 202011087924 A CN202011087924 A CN 202011087924A CN 112230544 B CN112230544 B CN 112230544B
- Authority
- CN
- China
- Prior art keywords
- interference
- frame system
- flexible support
- control moment
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a method for suppressing interference of flexible support of a control moment gyro frame system. Firstly, establishing a nominal model of a control moment gyro frame system; secondly, establishing a transfer function after parallel coupling of a rotation mode of flexible support interference introduced into a control moment gyro frame shaft and a frame system, and analyzing the frequency distribution of the flexible support interference; selecting a mixed sensitivity weighting function according to the distribution characteristics of the flexible support interference frequency, and designing H∞The controller suppresses the flexible support interference; then designing a frequency domain interference observer to compensate friction torque, cogging torque, gyro torque and space environment interference; finally, H is put∞And compounding the controller with the frequency domain interference observer to finish the method for suppressing the interference of the flexible support of the control moment gyroscope frame system. The invention optimizes design H through loop shaping∞The controller restrains the flexible support interference and compensates the low-frequency interference by using the frequency domain interference observer, so that the high-precision control of the control moment gyro frame system is realized.
Description
Technical Field
The invention belongs to the field of servo system control, and particularly relates to a Control Moment Gyro (CMG) frame system interference suppression control method.
Background
The control moment gyroscope is used as an actuator for spacecraft attitude control, has the advantages of large output moment (up to hundreds or even thousands of Nm), continuous adjustability, high energy efficiency ratio, no fuel consumption and no pollution, and is the first choice of a new generation of fast maneuvering, high-precision and high-stability spacecraft platform. Compared with a flywheel, the output torque is more than two orders of magnitude of the flywheel; compared with a jet propeller, the CMG only consumes electric energy and fuel and has long service life. The CMG is adopted as an actuating mechanism, the spacecraft can realize rapid, large-range and long-time attitude maneuver, and the CMG is successfully applied to large-scale spacecrafts such as Skylab, international space stations and spacecraft of the Tiangong series, and agile high-maneuvering satellites such as WordView series ground imaging satellites and Pleiades optical sensing satellites at present.
Control moment gyros typically consist of a high speed rotor with large angular momentum and one or two low speed frame systems. The direction of the angular momentum is forced to change by the rotation of the frame to generate a gyroscopic moment for the attitude control of the spacecraft. Therefore, the key task of the high-precision attitude control of the spacecraft is to improve the output torque precision of the control moment gyro, which depends on the speed control precision of the control moment gyro frame system to a great extent. In addition, a plurality of control moment gyroscopes are generally adopted as an actuating mechanism of the spacecraft, in order to avoid mutual coupling influence between the control moment gyroscopes, a flexible vibration isolation device is generally adopted to support each control moment gyroscope, and the flexible vibration isolation supporting device can generate motion deformation under the action of an excitation source of the control moment gyroscopes, so that the angular momentum vector direction of a rotor system is changed. Therefore, a method for suppressing interference of flexible support of a control moment gyro frame system is a key technology.
At present, aiming at the problem of interference suppression of a control moment gyro frame system, experts and scholars at home and abroad propose a plurality of control methods, and an article 'disturbance observation and suppression of a double-frame control moment gyro frame system' regards coupling moment, nonlinear friction and unmodeled dynamic between an inner frame and an outer frame suffered by the frame system as lumped interference, and enhances the interference suppression capability of the frame system by utilizing a nonlinear cascade expansion state observer to eliminate the influence of the lumped interference from an output channel of the system through sliding mode control. However, the paper only considers the influence of low-frequency disturbance, and does not consider the influence of flexible support disturbance on the frame system. Patent application number CN201310303492.7 proposes a control moment gyro frame disturbance suppression method, which suppresses the disturbance on the frame through sliding mode control, and improves the disturbance suppression capability of the frame system to a certain extent, but the nonlinear switching item in the sliding mode controller can bring about a certain buffeting problem, and the patent does not consider the influence of the flexible support on the frame system. In summary, the existing method cannot solve the problem of high-precision control considering flexible support in the actual work of the CMG frame system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problem of low speed regulation precision caused by the influence of flexible support interference in the actual working process of a CMG frame system, a method for suppressing the flexible support interference of a control moment gyro frame system is provided, and H is designed∞The controller interferes with the flexible support, the frequency domain interference observer is used for eliminating the influence of low-frequency interference on the frame system, and the speed regulation precision of the control moment gyroscope frame system is improved, so that the high-precision attitude control of the spacecraft is guaranteed.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for suppressing interference of flexible support of control moment gyro frame system is disclosed. The method specifically comprises the following steps:
firstly, establishing a frame system nominal model according to a dynamic relation between a rotating speed output quantity and a current input quantity of a control moment gyro frame system;
secondly, establishing a transfer function after parallel coupling of a rotation mode of the flexible support interference introduced into a frame shaft of the control moment gyroscope and a frame system, and analyzing the frequency distribution of the flexible support interference;
thirdly, selecting a mixed sensitivity weighting function according to the distribution characteristics of the flexible support interference frequency, and designing H∞The controller suppresses the flexible support interference;
fourthly, designing a frequency domain interference observer to compensate friction torque, cogging torque, gyro torque and space environment interference;
step five, designing H in the step three∞And compounding the controller with the frequency domain interference observer designed in the fourth step, so that the flexible support interference suppression of the control moment gyro frame system is realized.
The specific implementation steps are as follows:
firstly, establishing a frame system nominal model according to a dynamic relation between the rotating speed output and the current input of a control moment gyro frame system:
wherein, ω, iqRespectively controlling the rotating speed and the current control quantity of the moment gyro frame system; gp(s) a frame system nominal model; s is a transfer function complex variable; kpi(s) is the current controller transfer function; k is a radical oftIs a torque coefficient; j is the sum of the rotor inertia and the frame moment of inertia; l is a stator inductance; r is a stator resistor; k is a radical ofuIs the back electromotive force coefficient.
Secondly, establishing a transfer function after parallel coupling of a rotation mode of the flexible support interference introduced into a frame shaft of the control moment gyroscope and a frame system, and analyzing the frequency distribution of the flexible support interference;
1) firstly, establishing a transfer function of flexible support interference after parallel coupling is generated between a rotation mode introduced by a control moment gyro frame shaft and a frame system
Wherein G isr(s) a transfer function generated by parallel coupling of a rotation mode introduced by a control moment gyro frame shaft and a frame system is flexibly supported; gp(s) a frame system nominal model; n is the modal order of the flexible support structure; lambda [ alpha ]i,ρi,ξiRespectively corresponding modal gain, damping ratio and modal frequency of the ith order mode; s is a transfer function complex variable; Σ is a sum function.
2) And then, acquiring frequency distribution information of the flexible support interference by using a frequency domain analysis method.
Thirdly, selecting a mixture according to the distribution characteristics of the flexible support interference frequencySensitivity weighting function, design H∞The controller suppresses the flexible support interference;
1) first, a hybrid sensitivity function of the framework system is established:
wherein, S(s), T(s) are a sensitivity function and a complementary sensitivity function of the control moment gyro frame system respectively; k(s) is H to be designed∞A controller; gp(s) is a control moment gyro frame system nominal model; s is a transfer function complex variable.
2) Second, the hybrid sensitivity function weighting function is selected such that the desired performance is attributed to H∞Norm index:
wherein, WS(s),WKS(s),WT(s) a control moment gyro frame system sensitivity weighting function, a control weighting function and a complementary sensitivity weighting function are respectively adopted; | | non-woven hair∞Is an infinite norm; gamma is a performance index; s is a transfer function complex variable.
3) Then, the Matlab robust control tool box is used for solving H∞The controller K(s) ensures the stability of the frame system and suppresses the flexible support interference.
Fourthly, designing a frequency domain interference observer to compensate friction torque, cogging torque, gyro torque and space environment interference;
1) firstly, designing a low-pass filter to filter measurement noise:
wherein Q(s) is a low pass filter; τ is a low pass filter coefficient; s is a transfer function complex variable.
2) Then, designing a frequency domain disturbance observer to estimate friction torque, cogging torque, gyro torque and space environment disturbance
Wherein the friction torque, the tooth socket torque, the gyro torque and the space environment interference are dL＝0.3+0.25sin(0.3πt+30)Nm；
Is dLAn estimated value of (d); q(s) is a low pass filter; s is a transfer function complex variable, and t is time; gp(s) is a control moment gyro frame system nominal model; u is a composite controller designed based on the invention.
Step five, designing H in the step three∞And compounding the controller with the frequency domain interference observer designed in the fourth step to obtain a compound controller u, and realizing the suppression of the interference of the flexible support of the control moment gyro frame system:
wherein K(s) is H to be designed∞A controller;
performing inverse operation on the torque coefficient;
is friction torque, tooth socket torque, gyro torque and space environment interference dLAn estimated value of (d); s is a transfer function complex variable.
Compared with the prior art, the invention has the advantages that:
according to the invention, a proper mixed sensitivity weighting function design H is selected according to the distribution characteristics of flexible support interference frequency∞The controller effectively enhances the interference suppression capability of the control moment gyro frame system on the flexible support, and the frequency domain interference observer is designed to estimate and compensate the low-frequency interference, so that the interference suppression capability of the frame system is further enhanced.
Drawings
FIG. 1 is a flow chart of a method for suppressing interference of a flexible support of a control moment gyro frame system according to the present invention;
FIG. 2 is a block diagram of the design of the interference suppression method for the flexible support of the control moment gyro frame system according to the present invention;
FIG. 3 is a Burde plot of the flexure support disturbance of the present invention;
FIG. 4 shows a graph H in the present invention∞A controller design block diagram;
FIG. 5 is a block diagram of a frequency domain disturbance observer design in the present invention;
FIG. 6 is a schematic diagram of the output of the speed of the frame system based on the method.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
According to an embodiment of the present invention, as shown in fig. 1, a method for suppressing interference of a flexible support of a frame system of a control moment gyro according to the present invention includes the steps of:
as shown in fig. 2, first, collecting sample information of relevant parameters in the actual operation environment of the control moment gyro frame system, and according to the control moment gyroEstablishing a frame system nominal model through dynamics between the rotating speed output quantity and the current input quantity of the spiral frame system; secondly, establishing a transfer function after parallel coupling is generated between a rotation mode of the flexible support interference introduced into a control moment gyro frame shaft and a frame system, and analyzing the frequency distribution of the flexible support interference; then, according to the distribution characteristics of the flexible support interference frequency, selecting a mixed sensitivity weighting function and designing H∞The controller suppresses the flexible support interference; and finally, designing a frequency domain interference observer to compensate the friction moment, the cogging moment, the gyro moment and the space environment interference, thereby realizing the suppression of the flexible support interference of the control moment gyro frame system.
The specific implementation steps are as follows:
firstly, establishing a frame system nominal model according to a dynamic relation between the rotating speed output and the current input of a control moment gyro frame system:
wherein, ω, iqRespectively controlling the rotating speed and the current control quantity of the moment gyro frame system; gp(s) a frame system nominal model; s is a transfer function complex variable; kpi(s) is a current controller transfer function, and the value is 8; k is a radical oftThe torque coefficient is 3.4 Nm/A; j is the sum of the inertia of the rotor and the moment of inertia of the frame, and the value is 0.67 Kg.m2(ii) a L is stator inductance and takes the value of 0.64 mH; r is stator resistance, and takes a value of 7.8 omega; k is a radical ofuThe back electromotive force coefficient is 0.58 Wb.
Secondly, establishing a transfer function after parallel coupling of a rotation mode of the flexible support interference introduced into a frame shaft of the control moment gyroscope and a frame system, and analyzing the frequency distribution characteristics of the flexible support interference;
1) firstly, establishing a transfer function after parallel coupling is generated between a rotation mode introduced by a control moment gyro frame shaft and a frame system by flexible support interference:
wherein G isr(s) a transfer function generated by parallel coupling of a rotation mode introduced by a control moment gyro frame shaft and a frame system is flexibly supported; gp(s) a frame system nominal model; s is a transfer function complex variable; n is the modal order of the flexible supporting structure, and the value is 2; lambda [ alpha ]i,ρi,ξiRespectively the modal gain, the damping ratio and the modal frequency corresponding to the ith order mode, and respectively taking the values as lambda1＝λ2＝1.16、ρ1＝ρ2＝0.001、ξ1＝30、ξ140; s is a transfer function complex variable; Σ is a sum function.
2) And then, acquiring frequency distribution information of the flexible support interference by using a frequency domain analysis method. From the Bode plot (see FIG. 3), the frequencies of the flexible support disturbances are 30 Hz and 40 Hz.
Thirdly, selecting a mixed sensitivity weighting function according to the distribution characteristics of the flexible support interference frequency, and designing H∞The controller suppresses the flexible support disturbance, as shown in fig. 4;
1) first, a hybrid sensitivity function of the framework system is established:
wherein, S(s), T(s) are a sensitivity function and a complementary sensitivity function of the control moment gyro frame system respectively; k(s) is H to be designed∞A controller; gp(s) is a control moment gyro frame system nominal model; s is a transfer function complex variable.
2) Second, the hybrid sensitivity function weighting function is selected such that the desired performance is attributed to H∞Norm index:
wherein, WS(s),WKS(s),WT(s) is respectively a sensitivity weighting function, a control weighting function and a sensitivity compensation weighting function of the control moment gyro frame system, and values are respectively
WKS(s)＝0.01，
|| ||∞Is an infinite norm; gamma is a performance index; | | non-woven hair∞Is an infinite norm; gamma is a performance index, and is obtained to be 0.8 according to the selected mixed sensitivity function weighting function; s is a transfer function complex variable.
3) Then, the Matlab robust control tool box is used for solving H∞The controller K(s) ensures the stability of the frame system and suppresses the flexible support interference.
And fourthly, designing a frequency domain disturbance observer to compensate the friction moment, the cogging moment, the gyro moment and the low-frequency disturbance of the space environment, as shown in fig. 5.
1) Firstly, designing a low-pass filter to filter measurement noise:
wherein Q(s) is a low pass filter; tau is a low-pass filter coefficient and takes a value of 0.01; s is a transfer function complex variable.
2) Then, a frequency domain disturbance observer is designed to estimate low-frequency disturbance such as friction torque, cogging torque and the like
Wherein the friction torque, the tooth socket torque, the gyro torque and the space environment interference are dL＝0.3+0.25sin(0.3πt+30)Nm；
Is dLAn estimated value of (d); q(s) is a low pass filter; s is a transfer function complex variable; gp(s) is a control moment gyro frame system nominal model; u is a composite controller designed based on the invention.
Step five, designing H in the step three∞The controller is compounded with the frequency domain interference observer designed in the fourth step to obtain a compound controller u, so that the flexible support interference suppression of the control moment gyro frame system is realized
Wherein K(s) is H to be designed∞A controller; k is a radical oft -1Performing inverse operation on the torque coefficient;
low frequency interference d of friction torque, cogging torque and the likeLAn estimated value of (d); s is a transfer function complex variable.
FIG. 6 is a schematic diagram of the output of the speed of the frame system based on the method. Therefore, according to the invention, the proper mixed sensitivity weighting function design H is selected according to the distribution characteristics of the flexible support interference frequency∞The controller effectively enhances the interference suppression capability of the control moment gyro frame system on the flexible support, and the frequency domain interference observer is designed to estimate and compensate the low-frequency interference, so that the interference suppression capability of the frame system is further enhanced.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (5)
1. A method for suppressing interference of a flexible support of a control moment gyro frame system is characterized by comprising the following steps:
firstly, establishing a frame system nominal model according to a dynamic relation between a rotating speed output quantity and a current input quantity of a control moment gyro frame system;
secondly, establishing a transfer function after parallel coupling of a rotation mode of the flexible support interference introduced into a frame shaft of the control moment gyroscope and a frame system, and analyzing the frequency distribution of the flexible support interference;
thirdly, selecting a mixed sensitivity weighting function according to the distribution characteristics of the flexible support interference frequency, and designing H∞The controller suppresses the flexible support interference;
fourthly, designing a frequency domain disturbance observer to compensate the friction torque, the cogging torque, the gyro torque and the space environment;
step five, designing H in the step three∞Compounding the controller with the frequency domain interference observer designed in the fourth step to inhibit the flexible support interference;
in the first step, a frame system nominal model is established according to the dynamic relation between the rotating speed output and the current input of the control moment gyro frame system:
wherein, ω, iqGyro frames with control momentThe frame system rotating speed and current control quantity; gp(s) a frame system nominal model; s is a transfer function complex variable; kpi(s) is the current controller transfer function; k is a radical oftIs a torque coefficient; j is the sum of the rotor inertia and the frame moment of inertia; l is a stator inductance; r is a stator resistor; k is a radical ofuIs the back electromotive force coefficient.
2. The method for suppressing interference of a control moment gyro frame system flexible support according to claim 1, characterized by:
and secondly, establishing a transfer function after parallel coupling is generated between a rotation mode introduced by a control moment gyro frame shaft and a frame system by the flexible support interference, and analyzing the frequency distribution of the flexible support interference:
2.1) firstly establishing a transfer function of flexible support interference after parallel coupling is generated between a rotation mode introduced by a control moment gyro frame shaft and a frame system:
wherein G isr(s) a transfer function generated by parallel coupling of a rotation mode introduced by a control moment gyro frame shaft and a frame system is flexibly supported; gp(s) a frame system nominal model; n is the modal order of the flexible support structure; lambda [ alpha ]i,ρi,ξiRespectively corresponding modal gain, damping ratio and modal frequency of the ith order mode; s is a transfer function complex variable; Σ is a sum function;
2.2) then, acquiring frequency distribution information of the flexible support interference by using a frequency domain analysis method.
3. The method for suppressing interference of a control moment gyro frame system flexible support according to claim 1, characterized by:
and step three, selecting a mixed sensitivity weighting function according to the distribution characteristics of the flexible support interference frequency, and designing H∞Controller to flexible supportSuppressing interference;
3.1) first, the hybrid sensitivity function of the framework system is established:
wherein, S(s), T(s) are a sensitivity function and a complementary sensitivity function of the control moment gyro frame system respectively; k(s) is H to be designed∞A controller; gp(s) is a control moment gyro frame system nominal model; s is a transfer function complex variable;
3.2) secondly, selecting the hybrid sensitivity function weighting function such that the desired performance is attributed to H∞Norm index:
wherein, WS(s),WKS(s),WT(s) a control moment gyro frame system sensitivity weighting function, a control weighting function and a complementary sensitivity weighting function are respectively adopted; | | non-woven hair∞Is an infinite norm; gamma is a performance index; s is a transfer function complex variable;
3.3) then, solve for H using Matlab robust control toolkit∞The controller K(s) ensures the stability of the frame system and suppresses the flexible support interference.
4. The method for suppressing interference of a control moment gyro frame system flexible support according to claim 1, characterized by:
designing a frequency domain interference observer to compensate friction torque, cogging torque, gyro torque and space environment interference;
4.1) firstly designing a low-pass filter to filter the measurement noise:
wherein Q(s) is a low pass filter; τ is a low pass filter coefficient; s is a transfer function complex variable;
4.2) then, designing a frequency domain disturbance observer to estimate the friction torque and the cogging torque disturbance
Wherein the friction torque, the tooth socket torque, the gyro torque and the space environment interference are dL＝0.3+0.25sin(0.3πt+30)Nm；
Is dLAn estimated value of (d); q(s) is a low pass filter; s is a transfer function complex variable, and t is time; gp(s) is a control moment gyro frame system nominal model; and u is a composite controller.
5. The method for suppressing interference of a control moment gyro frame system flexible support according to claim 1, characterized by:
the fifth step is to design H in the third step∞The controller is compounded with the frequency domain interference observer designed in the fourth step, so that the obtained compound controller is as follows:
wherein K(s) is H to be designed∞A controller;
performing inverse operation on the torque coefficient;
is friction torque, tooth socket torque, gyro torque and space environment interference dLAn estimated value of (d); s is a transfer function complex variable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011087924.1A CN112230544B (en) | 2020-10-13 | 2020-10-13 | Method for suppressing interference of flexible support of control moment gyro frame system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011087924.1A CN112230544B (en) | 2020-10-13 | 2020-10-13 | Method for suppressing interference of flexible support of control moment gyro frame system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112230544A CN112230544A (en) | 2021-01-15 |
| CN112230544B true CN112230544B (en) | 2022-02-11 |
Family
ID=74112282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011087924.1A Active CN112230544B (en) | 2020-10-13 | 2020-10-13 | Method for suppressing interference of flexible support of control moment gyro frame system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112230544B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113568308B (en) * | 2021-07-15 | 2024-02-02 | 北京航空航天大学 | Mechanical system weak sensing touch force estimation method based on disturbance observer |
| CN117234089B (en) * | 2023-11-10 | 2024-01-23 | 成都铂升科技有限公司 | Unmanned aerial vehicle actuator time lag dynamic compensation control method based on interference observer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135392A (en) * | 1998-09-29 | 2000-10-24 | Hughes Electronics Corporation | Spacecraft attitude control actuator and method |
| CN101488031A (en) * | 2009-02-16 | 2009-07-22 | 北京航空航天大学 | High-precision magnetic bearing axial control method based on interference observer |
| CN104527994A (en) * | 2015-01-21 | 2015-04-22 | 哈尔滨工业大学 | Different-surface crossover quick-change track fixed time stable posture pointing direction tracking control method |
| CN105786036A (en) * | 2016-04-05 | 2016-07-20 | 北京控制工程研究所 | Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319148B (en) * | 2018-03-22 | 2019-02-26 | 北京航空航天大学 | A kind of control-moment gyro Gimbal servo system slow-speed of revolution high-accuracy control method |
-
2020
- 2020-10-13 CN CN202011087924.1A patent/CN112230544B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135392A (en) * | 1998-09-29 | 2000-10-24 | Hughes Electronics Corporation | Spacecraft attitude control actuator and method |
| CN101488031A (en) * | 2009-02-16 | 2009-07-22 | 北京航空航天大学 | High-precision magnetic bearing axial control method based on interference observer |
| CN104527994A (en) * | 2015-01-21 | 2015-04-22 | 哈尔滨工业大学 | Different-surface crossover quick-change track fixed time stable posture pointing direction tracking control method |
| CN105786036A (en) * | 2016-04-05 | 2016-07-20 | 北京控制工程研究所 | Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor |
Non-Patent Citations (3)
| Title |
|---|
| Multibody Dynamics and;A. GREWAL 等;《IEEE》;20000430;全文 * |
| 基于Ｈ∞混合灵敏度的ＣＭＧ框架谐振抑制方法;韩邦成 等;《振动、测试与诊断》;20131231;第33卷(第6期);第937-1090页 * |
| 挠性多体航天器动力学建模与姿态控制技术研究;仝西岳;《中国博士学位论文全文数据库 工程科技Ⅱ辑》;20071115(第05期);第34、64-67页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112230544A (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhong et al. | Attitude control for flexible spacecraft with disturbance rejection | |
| CN112230544B (en) | Method for suppressing interference of flexible support of control moment gyro frame system | |
| CN104267732B (en) | Flexible satellite high stability attitude control method based on frequency-domain analysis | |
| CN110456630B (en) | Anti-interference control method for control moment gyro frame servo system | |
| CN112650264B (en) | Robust composite control method for control moment gyro frame system | |
| Sun et al. | Disturbance rejection based on iterative learning control with extended state observer for a four-degree-of-freedom hybrid magnetic bearing system | |
| Daley et al. | Active vibration isolation in a “smart spring” mount using a repetitive control approach | |
| CN112631318B (en) | Method for compensating and controlling interference of higher harmonic waves of CMG frame servo system | |
| Li et al. | Adaptive neural network feedforward control for dynamically substructured systems | |
| Zhang et al. | Flexible satellite control via fixed-time prescribed performance control and fully adaptive component synthesis vibration suppression | |
| CN105786036A (en) | Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor | |
| CN105116935A (en) | A magnetically levitated rotator harmonic wave vibration suppression method based on a frequency domain variable parameter LMS algorithm and a wave trap. | |
| CN105783898A (en) | Magnetic suspension rotor harmonic vibration suppression method based on frequency-domain self-adaption LMS (least mean square) algorithm | |
| CN110941184A (en) | Sliding mode vibration active control method for electromagnetic bearing flexible rotor different-position system | |
| Shen et al. | Fault modeling, estimation, and fault-tolerant steering logic design for single-gimbal control moment gyro | |
| Xu et al. | Optimal robust position control with input shaping for flexible solar array drive system: A fuzzy-set theoretic approach | |
| Li et al. | Speed tracking control for the gimbal system with harmonic drive | |
| CN112256048B (en) | CMG frame system speed adjusting method with optimized mixed sensitivity | |
| CN110550238B (en) | Closed-loop component force synthesis active vibration suppression method for flexible satellite | |
| Xu et al. | Adaptive robust control of active magnetic bearings rigid rotor systems | |
| Zhang et al. | Fixed-time sliding mode attitude control of a flexible spacecraft with rotating appendages connected by magnetic bearing | |
| Ren et al. | Finite-time anti-disturbance control of an information-constrained autonomous helicopter flexible slung-load system with compound disturbance | |
| Zhang et al. | Nonrecursive Control Design for Nonlinear Systems: Theory and Applications | |
| CN112464391B (en) | Method for establishing Hamilton model of diesel generator set | |
| He et al. | Conceptual design and control method for a non-contact annular electromagnetic stabilized satellite platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |