基于逆系统方法的DGMSCMG框架伺服系统解耦控制研究

双框架磁悬浮控制力矩陀螺(Double-gimbal magnetically suspended control moment gyroscope, DGMSCMG)的框架伺服系统是一个多变量、非线性且强耦合的复杂系统. 为了进一步提高框架伺服系统的控制精度,本文提出了一种基于电流模式的动态逆系统解耦方法,通过对功放系统的动态补偿有效克服了未建模动态对解耦性能的影响,采用自适应滑模控制器有效提高了系统的跟踪特性. 对比仿真结果证明了该方法的有效性和优越性

Decoupling Control of Gimbal Servo System of DGMSCMG Based on Dynamic Inverse System Method

The gimbal servo-system of a double-gimbal magnetically suspended control moment gyroscope (DGMSCMG) is a complex system owing to its characteristics including multivariate, nonlinearity and strong gyroscopic coupling. This paper proposes a current-mode dynamic inverse decoupling method and introduces dynamic compensation for the power amplifier system to overcome the influence of the unmodeled dynamics on the decoupling performance. Meanwhile, adaptive sliding mode control is employed to improve the tracking performance of the controlled plant. The comparative simulation results demonstrate the effectiveness and superiority of this method.