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首页> 外文期刊>IEEE Transactions on Industrial Electronics >High-Precision and Strong-Robustness Control for an MSCMG Based on Modal Separation and Rotation Motion Decoupling Strategy
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High-Precision and Strong-Robustness Control for an MSCMG Based on Modal Separation and Rotation Motion Decoupling Strategy

机译：基于模态分离和旋转运动解耦策略的MSCMG高精度强鲁棒控制

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摘要

To resolve the common contradictions between the decoupling precision and robustness to model the errors of a magnetically suspended control moment gyro and to avoid high control effort, a high-precision and strong-robustness control strategy is presented in this paper. The described method is based on the modal separation control and rotation motion decoupling strategy. The simplified modal controller and modified feedback linearization algorithm are employed to realize the two objectives, respectively. Simultaneously, a new phase compensation approach is proposed, and its design method is presented to improve the decoupling performance and system stability. A robust servo regulator is adopted for the decoupled plants to guarantee the control performances and robustness. Comparative simulations and experiments have been developed to evaluate the effectiveness and superiority of the proposed control method.
机译：为了解决去耦精度与鲁棒性之间的矛盾，对磁悬浮控制力矩陀螺的误差进行建模，避免繁琐的控制工作，提出了一种高精度，鲁棒性强的控制策略。所描述的方法基于模态分离控制和旋转运动解耦策略。采用简化的模态控制器和改进的反馈线性化算法分别实现两个目标。同时，提出了一种新的相位补偿方法，并提出了其设计方法以提高去耦性能和系统稳定性。解耦工厂采用了坚固的伺服调节器，以确保控制性能和鲁棒性。已经开发了比较模拟和实验来评估所提出的控制方法的有效性和优越性。

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