【作者】 张佳为；

【导师】 赵辉；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 本论文以航天器姿态控制应用为课题背景,分析了控制力矩陀螺(CMG)伺服系统中,飞轮子系统高转速下稳速精度要求高,框架低转速下速率精度和平稳性要求高的特点,对CMG伺服系统中飞轮子系统与框架伺服系统进行了相应的控制分析,并设计实现了锁相环稳速系统。首先,本论文建立了CMG飞轮子系统数学模型,分析对比了PID、积分分离法与锁相环(PLL)控制方法,结合PLL稳速系统的实现,进行了系统设计与仿真。仿真分析表明锁相环控制采用10状态鉴频检相器的控制性能显著优于3状态鉴频检相器锁相环。其次,基于Stribeck摩擦模型,分析了摩擦力矩对CMG系统框架控制的影响,对于两种低速性能的补偿方法——高频振颤补偿方法与锁相环低速调速控制方法进行了可行性与有效性分析。随后,本文设计实现了锁相环控制系统,以10状态流的专用锁相环芯片UC3633为核心,以TL494芯片实现PWM信号生成与限流,以CPLD—EPM7064S实现换向等逻辑控制。实际系统的运行实验验证了所设计的系统功能均良好实现。最后,依据飞轮稳速系统的设计参数,进行了飞轮系统的稳速实验,在试验的两个转速设置点,锁相环电路稳速精度优于0.1%。同时根据实验现象,提出了锁相环飞轮稳速控制系统实现的改进建议。更多还原

【Abstract】 Taking the background of the applications of spacecraft attitude control, the control moment gyro (CMG) servo system was analyzed in this thesis. For the features that the flywheel subsystem need high steady, high-precision speed control; frame run in low speed, require for high steady, high-precision speed control, corresponding control method was presented to control the flywheel and frame servo system. The traditional PID and other control methods were also analyzed to apply to flywheel and frame system.Firstly, this thesis established a mathematical model of CMG flywheel subsystem, compared the advantages and disadvantages of the PID, integral separation and phase-locked loop (PLL) control methods. Then the simulink model and corresponding simulation results of the three control methods was given. Demonstrated the feasibility of PLL control method used in flywheel subsystem.Secondly, Stribeck friction model was proposed to analyze the impact of friction torque on the CMG frame motor. And simulated the impact of the friction when frame motor in low-speed. Then dither-smoothed method and phase-locked loop low-speed control method were introduced to compensate friction, and analyzed the effectiveness of this method.Later, the paper designed and realized a phase-locked loop control system, used 10 states dedicated PLL chip UC3633 to be the part of the core control in the system, TL494 chip was used for PWM signal generate and CPLD-EPM7064S was used to achieve motor commutation logic. The actual system operation proves that the design functions are well realized.Finally, Based on the design parameters of the steady speed flywheel control system, experiments were done at different rotation speeds set point, phase-locked loop circuits have achieved a good steady speed control, steady speed accuracy error of less than 0.1%. Verified the validity of a phase locked loop control system. According to the experiments, Optimized step-down, regulate voltage circuit, using advanced angle compensation methods were recommended for improvement.更多还原