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[1]潘松,牛子杰.超声电机驱动的SGCMG 框架速度控制研究[J].电机与控制学报,2019,23(01):73-79.[doi:10.15938/j.emc.2019.01.009]
 PAN Song,NIU Zi-jie.Speed control of SGCMG driven by ultrasonic motor[J].,2019,23(01):73-79.[doi:10.15938/j.emc.2019.01.009]
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超声电机驱动的SGCMG 框架速度控制研究
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
23
期数:
2019年01
页码:
73-79
栏目:
出版日期:
2019-01-15

文章信息/Info

Title:
Speed control of SGCMG driven by ultrasonic motor
作者:
 潘松1 牛子杰2
 ( 1. 南京航空航天大学机械结构力学及控制国家重点实验室,南京210016;2. 西北农林科技大学机械与电子工程学院,陕西杨凌712100)
Author(s):
 PAN Song1 NIU Zi-jie2
 ( 1. State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2. College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling 712100,China)
关键词:
超声电机 控制力矩陀螺 模式推理 框架速度控制
Keywords:
 ultrasonic motor control moment gyro pattern recognition control gimbal speed control
分类号:
TM 351
DOI:
10.15938/j.emc.2019.01.009
文献标志码:
A
摘要:
超声电机直接驱动的控制力矩陀螺框架伺服系统集成度高,响应速度快,并且具备断电断定的特性。该伺服系统要求在低速大的速度带宽范围内实现高精度的速度跟踪。在系统建模和分析的基础上,设计了经典控制和模式推理控制相融合的控制算法; 采用嵌入式微控制器实现了所提出的控制算法,设计了嵌入式控制系统; 在系统仿真校验的基础上进行了实际框架速度跟踪控制实验,实验结果显示在0. 01 ~ 0. 2( °) /s 速度范围内框架闭环速度跟踪误差小于0. 01( °) /s,在0. 2 ~72( °) /s 的速度范围内闭环速度跟踪误差下小于5%,控制结果满足系统所需要的性能指标要求。
Abstract:
Servo control system of single-gimbal control moment gyro driven by ultrasonic motor is a direct drive system without reducer,which has good performance in system integration,self-locking and rapid response. Such a servo control system needs a wide speed range control at low speed. A control algorithm was presented based on system modeling,where the classical control was intergrated with the pattern recognition control. The presented control algorithm was realized on an embedded micro controller. The control
algorithm was verified by simulation and related experiments were carried out. The experimental results show that in the speed range of 0. 01 ~ 0. 2( °) /s the speed error is less than 0. 01( °) /s,and in the speed range of 0. 2 ~ 72( °) /s the speed error is less than 5%,which meet the requirements of the gimbal control system.

参考文献/References:

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[1]张建桃,张铁民.超声电机伺服控制技术研究进展[J].电机与控制学报,2009,(06):879.
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备注/Memo

备注/Memo:
收稿日期: 2017 - 02 - 12
基金项目: 国家自然科学基金( 51575260)
作者简介: 潘松( 1978—) ,男,博士,讲师,研究方向为超声电机驱动与控制;
牛子杰( 1985—) ,男,博士,讲师,研究方向为超声电机优化设计。
通信作者: 潘松
更新日期/Last Update: 2019-03-24