光学 精密工程, 2010, 18 (1): 149, 网络出版: 2010-08-31
姿控飞轮变结构变速积分控制的实现
Implementation of variable structure and speed-changed integration control for flywheels
姿控飞轮 PI控制 变结构控制 变速积分 转速跟踪 satellite attitude control flywheel PI control variable structure control speed-changed integration rate speed tracking
摘要
为了兼顾飞轮控制系统的响应速度和稳态精度,在分析常值切换变结构控制和变速积分控制特性的基础上,将具有开关特性,响应快,但存在抖振缺点的常值切换变结构控制与能改变积分项的累加速度,使其与偏差大小相对应,稳态精度高的变速积分控制相结合,利用变速积分控制稳态精度高的优点弥补常值切换控制的开关特性带来的缺点,提出了变结构变速积分控制。根据飞轮的本体模型和运动方程建立了控制模型,分析了控制模型的性能,进行了转速跟踪实验。实验结果显示:变结构变速积分控制使系统的动态性能和稳态性能都得到很大提高。控制指令为偏移量1 000 r/min,幅值100 r/min, 周期0.01 Hz正弦信号时,跟踪误差为2 r/min。结果表明,提出的方法抑制了超出切换带范围的超调量,提高了进入切换带内的稳态精度,防止了抖振,基本达到了加快响应速度和提高稳态精度的要求。
Abstract
In order to balance the response speed and steady state accuracy of flywheels, a new control method combining of the constant switching variable structure control and speed-changed integration control is established on the basis of analysis of a constant switching variable structure control and a speed-changed integration control. The speed-changed integration control with high stable precision can change the accumulation of integration speed to correspond to the size of the deviation,which is able to make up the shortcomings of the constant switching variable structure control with switching characteristics.On the basis of the flywheel motor model and dynamic equation,a control model is established, then the performance of the control model is analyzed and the experiment of speed tracking is carried out. The experimental results indicate that the system dynamic and static performance have been greatly improved. When the sine instruction gives a offset in 1 000 r/min, amplitude in 100 r/min, and the period in 0.01 Hz, the tracking error is 2 r/min. Moreover,the proposed method suppresses the overshoting of the switching range, improves the steady state accuracy within switching range and prevents the bufferiy. It can satisfy the system requirements for higher precision and speed.
武俊峰, 吴一辉, 安静, 白越, 黎海文, 宣明. 姿控飞轮变结构变速积分控制的实现[J]. 光学 精密工程, 2010, 18(1): 149. WU Jun-feng, WU Yi-hui, AN Jing, BAI Yue, LI Hai-wen, XUAN Ming. Implementation of variable structure and speed-changed integration control for flywheels[J]. Optics and Precision Engineering, 2010, 18(1): 149.