中国空间科学技术2017，Vol.37Issue(3)：126-131,6.DOI:10.16708/j.cnki.1000-758X.2017.0048
基于跟踪微分器的CMG框架超低速测速方法研究
Research on ultra-low speed measurement for CMG gimbal based on tracking-differentiator
摘要
Abstract
At ultra-low speed,the precision of gimbal speed measurement is a key factor which influences the control accuracy of a control moment gyro (CMG) gimbal system. Focusing on the problem of noise amplification brought by conventional first-order backward differentiator when calculating ultra-low speed,a real-time speed estimation method based on a non-linear tracking differentiator and its discrete time expression using the fourth order Runge-Kutta method was proposed. A composite speed measuring method was presented to solve the tracking delay problem when using tracking differentiators directly. Then,the numerical simulation and experiment were conducted. The simulation results demonstrate that the speed estimation method proposed could reduce the quantization noises brought by tachometers and measurement noises.The experimental results show that by using tracking-differentiators the fluctuation of gimbal speed is reduced by 67.1%.关键词
控制力矩陀螺/框架/永磁同步电机/超低转速/跟踪微分器Key words
control moment gyro (CMG)/gimbal/PMSM/ultra-low speed/tracking differentiators分类
航空航天引用本文复制引用
宿诺,鲁明,翟百臣,胡跃伟..基于跟踪微分器的CMG框架超低速测速方法研究[J].中国空间科学技术,2017,37(3):126-131,6.基金项目
国家自然科学基金项目(11402019) （11402019）
