许文运1,2, 申友涛3, 黄卫清1,4, 孙梦馨1.基于超声电机的力矩补偿装置控制方法研究[J].压电与声光,2018,40(3):356-361.XU Wenyun1,2, SHENG Youtao3, HUANG Weiqing1,4, SUN Mengxin1.Research on Control Method of Torque Compensation Mechanism Based on Ultrasonic Motor[J].PIEZOELECTRICS AND ACOUSTOOPTICS
基于超声电机的力矩补偿装置控制方法研究
Research on Control Method of Torque Compensation Mechanism Based on Ultrasonic Motor
  
DOI:10.11977/j.issn.1004-2474.2018.03.013
中文关键词:  超声电机  卫星飞轮  力矩补偿  速度跟踪  模糊PI
英文关键词:ultrasonic motor  satellite flywheel  torque compensation  speed tracking  fuzzy PI
基金项目:国家自然科学基金资助项目(51405420) ;国家自然基金资助项目(51375224);江苏省自然科学基金资助项目(BK20140474)
作者单位
许文运1,2, 申友涛3, 黄卫清1,4, 孙梦馨1 (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江苏 南京 210016 2.中国航空发动机控制系统研究所,江苏无锡 214100 3.上海航天控制技术研究所上海 201109 4.广州大学 机械与电气工程学院广东 广州 510006) 
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中文摘要:
      为补偿卫星载荷运动产生的干扰力矩,设计了一种基于超声电机的力矩补偿机构。基于传统控制策略的比例、积分、微分(PID)闭环负反馈控制系统调速效果难以令人满意,在这种情况下建立了系统的数学模型,设计了基于模糊PI控制的闭环调速控制系统,并与传统的PI控制进行了对比。根据干扰力矩的给定形式,设计了飞轮运行的正弦速度给定曲线,仿真结果表明,该方法能够有效补偿载荷干扰力矩。此外,设计了以数字信号处理器(DSP)芯片为核心的硬件驱动控制电路,并进行了实验验证。结果表明,该算法比传统的PI控制效果更好,速度曲线跟踪精度明显提升。
英文摘要:
      In order to compensate the disturbance torque caused by the movements of the payloads of satellite, a torque compensation mechanism based on ultrasonic motor is designed. The speed control effect of the proportional, integral and differential (PID) closed loop negative feedback control system based on the traditional control strategy is not satisfactory. In this case, the mathematical model of the system is established, and a closed loop speed control system based on fuzzy PI control is designed and compared with the traditional PI control system. According to the given form of the disturbance torque, the sine speed given curve of the flywheel is designed, and the simulation results show that the method can effectively compensate the load disturbance torque. In addition, a hardware driven control circuit based on a digital signal processor(DSP) chip is designed and experimentally verified. The results show that the algorithm is better than the traditional PI control, and the speed curve tracking accuracy is significantly improved.
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