CAJ | 학술논문

磁悬浮控制力矩陀螺（Control Moment Gyro，CMG）框架伺服系统的速率精度直接决定了陀螺输出力矩的精度。针对谐波减速器非线性扭转刚度引起框架系统速率精度低的问题，提出了一种基于估计力矩反馈抑制速率波动的控制方法。首先建立了带有非线性扭转刚度的框架系统动力学模型，提出一种基于离散非线性跟踪微分器估计角加速度并进行力矩反馈的方法。然后在Matlab中进行仿真分析，并在单框架磁悬浮CMG上进行试验。试验结果表明，加入估计力矩反馈后，系统动态响应性能得到提高，超调减小；框架角速率给定为10°／s时，速率波动量降低了42％。该方法可有效的提高CMG输出力矩的精度。
자현부공제력구타라（Control Moment Gyro，CMG）광가사복계통적속솔정도직접결정료타라수출력구적정도。침대해파감속기비선성뉴전강도인기광가계통속솔정도저적문제，제출료일충기우고계력구반궤억제속솔파동적공제방법。수선건립료대유비선성뉴전강도적광가계통동역학모형，제출일충기우리산비선성근종미분기고계각가속도병진행력구반궤적방법。연후재Matlab중진행방진분석，병재단광가자현부CMG상진행시험。시험결과표명，가입고계력구반궤후，계통동태향응성능득도제고，초조감소；광가각속솔급정위10°／s시，속솔파동량강저료42％。해방법가유효적제고CMG수출력구적정도。
The speed precision of magnetically suspended control moment gyro (CMG) gimbal servo system determines its torque precision. In allusion to the problem that the harmonic drive non-linear torsional stiffness could reduce the speed precision, a feedback control algorithm based on estimated torque is presented. The system dynamic model with nonlinear torsional stiffness is established and a method is proposed to estimate angular acceleration through nonlinear tracking differentiator and carry out torque feedback. The simulation model of gimbal servo system is achieved in Matlab and experiments are carried out on single gimbal magnetically suspended CMG. Experimental results indicate that the method can improve the system dynamic performance with small overshoot and the speed fluctuation is reduced by 42% when the speed given is 10°/s. This method can effectively increase the CMG torque precision.