摘要
针对非线性摩擦和外部随机扰动影响磁悬浮控制力矩陀螺(MSCMG,Mag-netically Suspended Control Moment Gyroscope)框架系统角速率精度的问题,提出了一种基于自抗扰控制器(ADRC,Active Disturbance Rejection Controller)的高精度转速控制方法.通过三阶扩张状态观测器将框架系统负载力矩、非线性摩擦力矩及外部随机扰动力矩作为"总扰动"进行估计,并对该扰动力矩进行补偿.仿真及实验结果表明:基于自抗扰控制器的框架系统控制方法使框架转速精度和稳定度提高了50%以上,且具有抗干扰能力强和动态特性好的特点.
Aimi and external random ng at solving the problems that speed precision would be influenced by nonlinear friction disturbance existing in magnetically suspended control moment gyroscope （MSCMG） , a high-precision speed control method was proposed based on active disturbance rejection controller（ADRC）. The load torque, nonlinear friction torque and the external disturbance torque of the gimbal system were com pensated after they were estimated as the ＂total disturbance＂ by a third-order extended state observer. Simula tion and experimental results show that the control method based on ADRC can improve the velocity precision and stability of the gimbal system by more than 50% , and has the characteristics of strong anti-interference a- bility and good dynamic behavior.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2012年第11期1497-1501,共5页
Journal of Beijing University of Aeronautics and Astronautics
关键词
磁悬浮控制力矩陀螺
随机扰动
自抗扰控制器
干扰补偿
magnetically suspended control moment gyroscope（MSCMG）
random disturbance
activedisturbance rejection controller（ADRC）
disturbance compensation
