空间载荷低速控制摩擦与转矩波动力矩辨识与补偿方法研究

	空间载荷低速控制摩擦与转矩波动力矩辨识与补偿方法研究
其他题名	Study on the method of friction and torque ripple identification and compensation in low speed control of space load
	卢盟
学位类型	硕士
导师	徐抒岩
	2015-10
学位授予单位	中国科学院大学
学位专业	光学工程
关键词	摩擦转矩波动 Lugre摩擦模型干扰观测器永磁同步电机
摘要	空间有效载荷如光学遥感器等，通常搭载在卫星上依据任务需求主要完成跟踪扫描成像和对天凝视成像等任务。在进行跟踪扫描成像时，空间载荷需要在跟踪目标的同时在轨飞行，在实际的跟踪过程当中，由于空间载荷伺服控制系统根据任务需要大多数处于低速运行的状态，此时伺服系统速度输入信号小，干扰影响大，使载荷视轴发生振荡，影响空间载荷的成像质量，甚至发生目标丢失的现象。实现空间载荷低速运行条件下的稳定控制，是保证空间载荷高质量成像的必要条件。本文以永磁同步电机(PMSM)直驱的空间载荷稳像控制伺服系统作为研究对象，介绍了永磁同步电机控制策略，围绕空间载荷伺服系统高精度控制技术，分析了影响伺服系统低速性能的主要原因，对影响伺服系统精度的原因和现象、及抗干扰能力强的控制算法和控制策略等进行了深入的分析和探讨。首先，本文介绍了永磁同步电机的基本组成和特点，分析并介绍了了空间载荷伺服系统中选用永磁同步电机作为执行元件的原因。介绍了永磁同步电机FOC矢量控制策略，分析了矢量控制策略中定子相电流、电压与电机转矩输出的关系，并给出了建立永磁同步电机伺服系统数学模型的方法。然后，本文分析了影响空间载荷伺服系统低速稳定性的原因。对影响伺服系统的摩擦和转矩波动进行了深入的研究和分析，给出了几个典型的摩擦模型，基于LuGre摩擦模型分析了电机摩擦在低速时对系统速度的影响；给出了转矩波动存在原因和存在的形式，分析了转矩波动对系统速度周期性的影响。再次，介绍了遗传算法的基本原理，给出了遗传算法的构成要素和函数编写方法。提出利用遗传算法进行LuGre摩擦模型参数辨识的方法；给出了基于模型的摩擦补偿方法原理，分析研究了基于LuGre摩擦模型的电流环补偿方法；给出了干扰观测器的原理，分析研究了干扰观测器速度环的补偿方法。最后，利用Matlab/simulnk模块建立空间载荷伺服系统速度环闭环；从数学角度分析了LuGre摩擦模型公式，根据伺服系统低速运行条件，提出了LuGre摩擦模型简化的方法，并给出了基于简化的LuGre摩擦模型电流环补偿办法；针对电机摩擦补偿时误差和转矩波动的存在，提出了基于速度环的干扰观测器的补偿方法。
其他摘要	Spacecraft Payload, such as optical remote sensor, are carried in the satellite completing the tracking scan imaging, staring imaging and other tasks based on mission requirements. In tracking scan imag, space load is required to track the target while in orbit. In the actual tracking process, the space load servo control system usually state in the low speed operation, because of the task needs. At this time, the speed of the input signal of servo system is small, and the disturbance of servo system is serious, Load Los oscillating, affecting the imaging quality of space load even missing the target. The stability control under the low speed operation of the space load is the necessary condition for the high quality imaging. In this paper, the permanent magnet synchronous motor (PMSM) direct drive system of the stabilize image space load system is studied. The control strategy of permanent magnet synchronous motor is introduced. The high precision control technology of servo system is analyzed, and the main reasons of the low speed performance of the servo system are analyzed. The cause and the phenomenon of affecting the accuracy of servo system are analyzed and discussed. The control algorithm and the control strategy are also analyzed and discussed. First, this paper introduces the structure and composition of the control system of the Permanent magnet synchronous motor, the structure and the corresponding FOC control strategy of the permanent magnet synchronous motor, and analyzed the reason why the permanet magnet synchronous motor is used in the spatial load servo system. Introduced the correlation between the vector control strategy of stator phase current, voltage and motor torque output. The mathematical model of permanent magnet synchronous motor is established from the point of view of mathematics. Then, the reasons for the low speed stable of the servo system of the space load and the corresponding compensation strategies are analyzed. the friction and torque ripple of the servo system are studied and analyzed in depth. Several typical friction models are given. Based on LuGre friction model, the effect of friction on the speed of the motor at low speed is analyzed. The cause and the existing form of the torque ripple are given. The effect of torque fluctuation on the system speed is analyzed. Third, using the spectrum generator to measure the transfer function of closed loop system of the motor current loop, we obtain the closed-loop transfer function of the current loop. The zero speed of the motor is analyzed, proposed the method of using genetic algorithm to identify the parameters of LuGre friction model. The principle of friction compensation method based on the model is presented, and the current loop compensation method based on LuGre friction model is studied. The principle of the disturbance observer is given, and the compensation method of the speed loop of the disturbance observer is analyzed. Finally, the speed loop of space load servo system is established by using Matlab/simulnk module. The LuGre friction model is analyzed from the mathematical point of view. According to the low speed operating condition of the servo system, the simple method of LuGre friction model is proposed, and the method of current loop compensation based on the simplified LuGre friction model is presented. In view of the existence of the error term of the friction compensation and the torque ripple of the motor, the compensation method of the disturbance observer based on the speed loop is proposed.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/49323
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	卢盟. 空间载荷低速控制摩擦与转矩波动力矩辨识与补偿方法研究[D]. 中国科学院大学,2015.

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