控制力矩陀螺框架伺服系统期望补偿自适应鲁棒控制

摘要

For the control moment gyroscopes gimbal servo system with parametric uncertainties,friction nonlinearities and external disturbance,an adaptive robust control method considering LuGre friction model is presented.To estimate the unknown inertia and damping coefficient of the gimbal servo system,the LuGre friction parametric uncertainties as well as the unknown upper bound of the external disturbance,a parameter update law is designed.Furthermore,to improve the robustness of the system to parametric variation and external disturbance,a desired compensation adaptive robust controller is designed.It can precisely compensate the LuGre friction nonlinearity and reduce the adverse effect of measurement noise and external disturbance on the system.Stability of the closed-loop control system is proved via Lyapunov technique.The simulation results for a flexible spacecraft attitude maneuver verify the effectiveness of the proposed control law.%本文针对控制力矩陀螺框架伺服系统中存在的参数不确定性、摩擦非线性及外部干扰问题,提出了一种考虑LuGre摩擦的自适应鲁棒控制方法.针对陀螺框架伺服系统未知惯量和阻尼系数、LuGre摩擦参数不确定性及未知外部干扰上界,设计参数更新律对其进行估计.在此基础上,为提高系统对不确定参数及未知干扰的鲁棒性,设计带有期望补偿的自适应鲁棒控制器,可实现对LuGre摩擦非线性的精确补偿,同时减小测量信号噪声及外部干扰对系统的不利影响.应用Lyapunov稳定性理论分析了闭环系统的稳定性.对挠性航天器姿态机动控制的仿真结果,验证了所提方法的有效性.