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

The characteristics of gimbal servo system of control moment gyroscope(CMG)have direct influence on the output torque of CMG,thus there is great significance on the research of the control technology of the gimbal servo system.This thesis carries out research work around the servo control technology of the gimbal system as followings.The thesis discussed the model of gimbal servo system combining the math model of permanent magnet synchronous motor(PMSM)with the model of disturbance torque on gimbal servo system,and then analyzed the influence on the gimbal servo system by disturbance torque.The thesis chose the resolver as the position sensor,and discussed two methods of speed measure based on the resolver.The method of speed measure by position difference will bring errors under ultra-low speed,so the thesis came up with a new method of speed measure.The new method combined the position difference and speed predicted by second-order increment.The simulation result showed that this method could get higher precision,higher resolution and lower phase delay.The thesis designed internal mode control(IMC)controller of PMSM based on the math model of PMSM,and modeled the simulation modeling under the Simulink.The simulation result showed that the PMSM with IMC controller displayed better robustness and capacity of resisting disturbance.At last the thesis improved the IMC controller by using single neuron adaptive method for getting higher precision of position and speed control.The thesis also accomplished the hardware design of the PMSM,including the micro-controller based on DSP and FPGA,and then built the gimbal servo system experiment platform.After tested the precision of position and speed measure by resolver,the CMG gimbal servo control was realized.The testing results showed that the gimbal servo system had excellent performance.