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基于干扰观测器的惯性动量轮高精度控制

, PP. 52-56

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Abstract:

为了提高惯性动量轮的输出力矩精度,针对惯性动量轮存在的内干扰力矩,提出一种基于干扰观测器的扰动抑制策略.通过建立惯性动量轮动力学模型,分析得出目前的惯性动量轮力矩控制不能无差地跟随阶跃力矩指令,进而设计了干扰观测器,并根据估计出的扰动力矩计算得到补偿控制电压.设计控制系统并采用该方法,在惯性动量轮工程样机上进行实验研究.结果表明采用基于干扰观测器的扰动抑制策略,使惯性动量轮输出力矩精度从0.01N·m提高到0.002N·m,转速和力矩响应曲线更平滑.

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