单轴飞轮储能与姿态控制系统误差分析

介绍了单轴飞轮储能及姿态控制一体化系统的总体构成和工作原理,研究并推导了系统的数学模型,分析了系统误差产生的原因,建立了转台角度位置误差与转子安装不同轴误差、转子偏心误差、飞轮速度测量与控制误差之间的误差关系式,并进行了误差合成。结合实际实验系统算出了各项误差,并对比和分析了各项误差。结果表明:影响系统位置精度的主要因素有飞轮安装不同轴误差、转动惯量误差和飞轮速度测量与控制误差等,其中飞轮转动惯量误差和飞轮安装不同轴误差是不可控量;而飞轮的转速测量与控制误差是可控量。最后提出了提高飞轮储能与姿态控制系统精度的主要方法,可以通过提高位置测量传感器和速度测量传感器的分辨率,采用先进的控制算法来降低飞轮的转速测量与控制误差。

Analysis on errors of single axis energy storage/attitude control system with double flywheels

The general structure and working principle of the single axis energy storage/attitude control system were introduced. The mathematical model of the system was studied and put forward; the cause of errors was analyzed; the equations of platform angular error and flywheel install error, the platform angle error and flywheel eccentricity error, the platform angle error and error of flywheel speed measurement and control were also analyzed, respectively; then every piece of errors were compounded. The actual errors were computed combined with the actual experimental system, and each error was compared and analyzed. The results show that the primary factors are the flywheel install error, flywheel eccentricity error, speed measurement error and control error etc. The install error and eccentricity error are uncontrolled factors, while the flywheel speed measurement error and control error are controllable factors. In conclusion, the primary method that can improve the attitude control precision is presented; the speed measurement error and control error of flywheels can be reduced by improving the resolutions of position sensor and speed sensor,as well as adopting advanced control algorithm.