【作者】 刘治华；

【导师】 吴一辉；

【作者基本信息】 中国科学院研究生院（长春光学精密机械与物理研究所） ， 机械制造及其自动化， 2006， 博士

【摘要】 双功能飞轮储能及姿态控制系统是近年来发展极为迅速的一种集成化能量存储和姿态控制设备,它是一个集光、机、电于一体的复杂系统。本文以相关理论与实验为基础,对双功能飞轮储能及姿态控制系统能量存储与姿态控制的解耦问题、速度反馈测量的有效方法、控制策略以及系统误差等方面进行了深入研究。本文首先系统地论述了利用飞轮同时完成能量存储与姿态控制方案的可行性、研究意义及国内外的发展现状和趋势。给出了单轴储能与调姿控制器的设计方法,简要介绍了单轴双功能飞轮姿态控制系统的基本构成及工作原理。系统中速度反馈测量方法的正确性以及反馈元件的测量精度对控制系统的控制性能影响很大。分析了传统测速方法所存在的不足,从误差分析的角度提出了一种速度测量方法,并设计了相应的速度测量系统,满足了系统能量存储与姿态调整过程中飞轮速度测量范围宽、精度高的要求。分析了系统储能与姿态调整控制过程中所存在的问题,对上、下飞轮电机单元的差异通过串联校正的方法进行了补偿,提出了积分分离式分段PID复合控制算法,显著地提高了系统控制精度,并抑制了超调,取得了满意的控制效果。在系统放能与姿态调整实验过程中,采用可控恒流源与PD控制相结合的方法,实现了系统在高转速、宽范围内的稳定控制。分析了影响系统姿态控制精度的主要因素,推导并建立了单自由度气浮转台角度与各影响因素之间的误差关系式,并进行了误差合成;结合实际实验系统,算出了各项误差,并针对该系统提出了提高系统姿态控制精度的主要方法。最后对本文提出的理论和方法进行了实验研究,取得了与理论分析相一致的结果,证明了本文理论分析的正确性及工程实用价值。更多还原

【Abstract】 The double function flywheel energy storage and attitude control system is a kind of integrated energy storage and attitude control equipment that is developing rapidly in recent years. It is a complicated system composed of optics, mechanism and electronics. Basing on theories and experiments, the following respects have been studied deeply for IPACS in this paper: decoupling of energy storage and attitude control, effective measurement method of feedback speed, effective control strategies, and system errors.The feasibility and significance of using flywheels to provide energy storage and attitude control simultaneously are discussed, as well as the developing status and trend in the domestic and foreign are described. The design methods of controller used in single axis flywheel energy storage and attitude control system are given. The basic structure and work principle of single axis attitude control system with double function flywheels are introduced simply.In system, the validity of feedback speed measurement method and accuracy of feedback elements affect control performance greatly. A kind of speed measurement method is put forward basing on the analysis of errors and insufficiencies of traditional speed measurement methods. Consequently, the corresponding speed measurement system with the advantages of high precision and wide range has been designed, which can meet the demand of the integrated flywheel energy storage and attitude control system.Some problems in the experiment of energy storage and attitude control are discussed. According to those problems, the difference between the up flywheel-electrical machinery unit and the down unit are compensated through the series correction; the PID compound control algorithm with integral separation and formula partition is put forward. The system control precision is increased greatly, and overshoot is restrained effectively at the same time. As a result, system control effect is content terrifically. In the experiment of energy release and attitude control, the stable control is realized in high speed and wide range by using controllable constant current circuit and PD control algorithm.The primary factors that influence system attitude control precision are analyzed. The equations between platform angular error and every influence factor are done, respectively. And then every piece of errors is compounded. The experiment system being combined更多还原