Multi-Frequency-Band Uncertainties Rejection Control of Flexible Gimbal Servo Systems via a Comprehensive Disturbance Observer

被引：3

作者：

Jiang, Yuan ^{[1
]}

Yang, Jun ^{[2
]}

Li, Shihua ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China

[2] Loughborough Univ, Dept Aeronaut & Automot Engn, Loughborough LE11 3TU, England

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS | 2024年 / 71卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Flexible GSS; speed-regulation; compound disturbances; perturbed coefficients; resonance cancellation-based control; disturbance observer; quantitative robustness analysis; SPACECRAFT;

D O I：

10.1109/TCSI.2023.3323569

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Considering the multi-frequency-band uncertainties with distinctive forms and perturbed coefficients faced by flexible gimbal servo systems (GSSs) in control moment gyros (CMGs), a robust high-accuracy speed-regulation controller is proposed in this paper. Firstly, to obtain a more precise uncertainties compensation, a generalized model of flexible GSS with refined classification and description upon various types of uncertainties is accomplished. Then a comprehensive disturbance observer is designed based on this generalized model to accurately estimate compound disturbances in multi-frequency-band simultaneously, and a novel quantitative robustness analysis and method against the frequency deviations of faced periodic disturbance is further conducted. Due to the nominal recovery performance guaranteed by this estimation-based feedforward framework, a resonance cancellation-based composite controller is designed for the speed vibration suppression during the transient processes even in the presence of flexibility coefficients perturbation. Rigorous robust stability analysis for the closed-loop system is established. Experimental results with various uncertainties are provided to fully validate the effectiveness of the proposed scheme.

引用

页码：794 / 804

页数：11

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