Research On The Control Technology Of High Precision Gimbal Servo System Of Control Moment Gyroscope

The speed and position characteristics have direct influence on the output torque precision of control moment gyroscope, thus there is great significance on the research of driving and controlling technology of the gimbal servo system. The thesis carries out research work as following three aspects.First of all, the thesis introduces the research and application status of control moment gyroscope gimbal and auto disturbance rejection controller. To achieve the goal of higher speed and orientation control precision, the math model and operation characteristics are analyzed in the first place, then a position-loop speed-loop circuit-loop control scheme which consists of the improved auto disturbance rejection controller and field oriented vector control algorithm has been provided to be applied on gimbal servo system. Further more, the thesis introduces the principle and realizing method of the field oriented vector control algorithm as well as the design of one order improved auto disturbance rejection controller according to brushless DC motor, the simulation result shows that the control system has a high control precision and strong anti-disturbance capacity.Moreover, the thesis has accomplished the hardware work of the gimbal servo system. A high precision speed measurement scheme depended on binary channel resolver has been presented, including the opretion principle of binary channel resolver as well as the hardware and software design of resolver calculation. Besides, the thesis put forward an improved scheme including backward difference algorithm and kalman filter algorithm. Moreover, the thesis has also accomplished the hardware design of the gimbal servo system, including the micro-controller based on DSP and FPGA, the driver circuit based on DRV8312 and the phase circuit sampling circuit.Finally, the thesis has builded the experiment platform and designed a monitoring software of LabWindows/CVI to test the performance of the gimbal servo system, including the performance of speed control, angle orientation and active operation. The result shows that the gimbal servo system has achieved the desired requirement and goal, as well as an excellent performance.