重复控制在卫星转动部件动量补偿中的应用

针对卫星转动部件周期运动对姿态控制精确度产生的不利影响,通过补偿飞轮来抵消转动部件运动所引入的干扰.利用重复控制能够高精确度地完成周期信号跟踪或抑制周期性扰动的优点,在原有PID控制器基础上引入重复控制来提高补偿飞轮的角位置跟踪精确度.同时重复控制还可以抑制转动部件摩擦力矩引起的跟踪误差,进一步改善补偿系统的补偿效果.给出有效载荷的运动特性并依据Karnopp摩擦模型进行摩擦力矩分析.仿真部分给出补偿方案的仿真验证,仿真结果表明引入重复控制对补偿精确度的提高有很大贡献,能够抵消99％的角动量干扰.

Repetitive control in momentum compensation for satellite rotating part

According to the negative impact of satellite rotating parts period motion on attitude control accuracy,a compensation wheel is used to counteract the disturbance.Repetitive control method was well known for its advantage of high accuracy in tracking period signal or suppressing periodic interference.By this nature,original PID controller introduced repetitive control for improving angle tracking performance.The friction torque of rotating part downgraded the compensating effect and that also could be restrained by repetitive control for enhancing the compensating result.The motion characteristic of payload was given.The characteristic of friction torque was analyzed based on Karnopp friction model.The simulation section gives compensation simulation,and the results reveal that repetitive control contributes much in the improvement of compensating accuracy,which counteracts 99% momentum disturbance.