动基座下DGCMG框架伺服系统干扰补偿控制

针对双框架控制力矩陀螺(double gimbal control moment gyro，简称DGCMG)内外框架间的耦合力矩和航天器快速机动带来的牵连力矩引起框架角速率波动问题，建立了动基座下DGCMG框架伺服系统的动力学模型，提出了一种基于扩张状态观测器(extended state observer，简称ESO)的扰动力矩估计方法。对耦合力矩、牵连力矩等扰动力矩进行估计并采用力矩前馈的方式进行补偿，从而抑制扰动力矩对框架伺服系统控制精度的影响。仿真及实验结果表明,该控制方法能有效抑制由于扰动力矩引起的框架速率波动，提高了框架的速率输出精度。

Disturbance Compensation Control of Gimbal Servo System for DGCMG Used in Spacecraft

Considering the space application of the double gimbal moment gyro (DGCMG), the coupling moment of gimbals and gyroscopic torque caused by spacecraft leads to a velocity ripple of the gimbal. In light of this problem, the dynamics model of the gimbal system of the DGCMG used in spacecraft is set up, and a disturbance observer is proposed based on the extended state observer (ESO). The integrated disturbance torque can be estimated by the extended state observer. Then, the disturbing moment is compensated using torque feed-forward. Both simulation and experimental results show that the control algorithm effectively suppresses the velocity ripple caused by the disturbance torque and improves angular precision of the gimbal.