控制力矩陀螺框架系统高精度复合控制研究

摘要

控制力矩陀螺（CMG）是大型航天器姿态控制的关键执行机构，控制力矩陀螺框架系统的控制精度是影响其输出力矩精度的重要因素。为满足框架系统的恒速控制精度和随动控制精度，采用反馈控制与前馈控制相结合的复合控制方法；建立了采用永磁同步电机的框架系统动力学模型，采用矢量控制方法及高精度的角位置和角速度反馈控制有效地提高了恒速控制精度，根据系统传递函数设计了前馈控制器，有效地提高了随动控制精度。实验结果显示：100°／s恒速控制精度为0．0012，10sin（6πt）°／s正弦随动控制的幅值相对误差为0．18dB，相位差为8°，很好地满足了控制力矩陀螺的高精度输出力矩需求。%Control moment gyro （CMG） is a key attitude control actuator of large spacecraft. The precision of the CMG gimbal system is a main factor affecting its output torque accuracy. In order to satisfy the high precision requirement of CMG gimbal system at invariable and variable velocity, a complex control method consists of feed-back and feed-forward is adopted. A dynamic model of CMG gimbal system with permanent magnet synchronous motor is set up, with invariable velocity control precision improved by vector control and high precision angular position and velocity feed-back control, and viable velocity control precision improved by feed-foward control. Experiment results show the control precision of 10°/s is 0.0012, and when the gimbal system tracks a 10sin（6πt）°/s sine given velocity, the relative amplitude error is 0.18dB and the phase error is 8°. The control performances satisfy the demands of high precision CMG output torque precision.