CN106026794A - Sliding formwork method for flywheel control - Google Patents

Sliding formwork method for flywheel control Download PDF

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Publication number
CN106026794A
CN106026794A CN201610629062.8A CN201610629062A CN106026794A CN 106026794 A CN106026794 A CN 106026794A CN 201610629062 A CN201610629062 A CN 201610629062A CN 106026794 A CN106026794 A CN 106026794A
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flywheel
sliding
mode
brshless
motor
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CN201610629062.8A
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Chinese (zh)
Inventor
张聪
马俊
魏慧�
余东东
魏厚震
马文桥
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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Priority to CN201610629062.8A priority Critical patent/CN106026794A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention relates to a sliding formwork method for flywheel control. A three-phase six-state brushless direct-current motor equivalent topological structure based on a switching converter is built, an instant model of the flywheel is obtained through calculation, the flywheel status space model is worked out according to a status space averaging method, and the flywheel equivalent control rule is obtained through analytic calculation by selecting a sliding formwork surface equation. The method effectively improves the static and dynamic performance and robustness of the flywheel, has the good speed regulating characteristics and high anti-jamming capability, and remarkably improves the flywheel output torque and rotating speed tracking precision.

Description

A kind of sliding-mode method controlled for flywheel
Technical field
The present invention relates to machine control techniques field, particularly relate to a kind of sliding-mode method controlled for flywheel.
Background technology
Flywheel is the core that the spacecrafts such as all kinds of satellite, manned spaceship, space probe realize gesture stability and attitude stabilization Heart inertia actuator.At present, in high accuracy three axis stabilized satellite the most in orbit, nearly all use flywheel as master Want inertia actuator.In order to realize the high accuracy of this kind of satellite, its attitude control actuator must possess the most high-precision Degree.
At present, satellite is more and more higher to the requirement of posture control system precision, life and reliability, and flywheel has and do not consumes combustion Material, torque accuracy are high, be suitable for absorbing the advantages such as disturbance, are the important executive components of a class.The moment of inertia can be regarded as on flywheel structure Bigger motor, domestic and international flywheel drives motor all to use brshless DC motor, and this motor is substantially nonlinear time-varying system , there are armature-reaction, rotary inertia and winding change etc. in system, pulsewidth modulation simultaneously also has stronger non-linear and do not models dynamic State；Additionally, there is also windage, oil film, magnetic resistance and friction etc. during flywheel work, have a strong impact on dynamic and static state performance, reduce and fly The torque accuracy of wheel.
Flywheel passes through brshless DC motor based on switch converters, makes wheel body accelerate or braking produces the moment of reaction, Change the attitude of satellite or resist disturbing moment to keep satellite attitude stabilization.Its core is to the control driving motor, flies Wheel speed governing wider range, speed governing requires it is that motor DC side voltage changes with motor speed change, therefore uses voltage-mode more The switch converters that formula controls.
And switch converters is a strong nonlinearity dynamical system, there is abundant linearity and non-linearity dynamic behavior, Such as Hope's bifurcated, double period bifurcation, border collision bifurcated, cutting fork, coexist attractor etc..Typically use based on nonlinear Control The pwm switch changer of method, it has more preferable robustness, a faster dynamic response, and to input power and negative Carry disturbance and possess good rejection ability.
Owing to there is uncertain noises moment in flywheel, severely impact the dynamic and static performance of flywheel output torque, Reduce flywheel moment output accuracy.Conventional proportional-integral-differential method can not take into account dynamic response and anti-interference well The requirement of ability, therefore has scholar to use such as blur method, neural net method and intelligent method, but fuzzy rule is more multiple Miscellaneous, cause effect not ideal enough；Neural net method adjusts parameter because of needs unceasing study, needs processor at a high speed, firmly Part realizes difficulty；And intelligent method is complex and is mostly only limitted to Computer Simulation, it is difficult to engineer applied.
Therefore for affecting Parameters variation and the uncertain disturbances of flywheel dynamic and static state performance, need one for flywheel control The sliding-mode method of system, is calculated the control law of flywheel, and the instruction to satellite attitude control system input responds, thus controls The output of flywheel processed, is effectively improved the control accuracy of flywheel.
Summary of the invention
In view of above-mentioned analysis, it is desirable to provide a kind of sliding-mode method controlled for flywheel, existing in order to solve In technology, fuzzy rule is more complicated, causes effect not ideal enough；Neural net method hardware realizes difficulty；Intelligent method is difficult to work The problems such as Cheng Yingyong.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of sliding-mode method controlled for momenttum wheel high accuracy, it is characterised in that comprise the following steps:
Step 1, set up the brshless DC motor equivalent topologies structure of flywheel；
Step 2, brshless DC motor equivalent topologies structure according to flywheel, calculate flywheel instantaneous model；
Step 3, calculating momenttum wheel state-space model；
Step 4, selection sliding surface modular equation；
Step 5, analytical Calculation flywheel Equivalent control law
Step 6, flywheel Equivalent control law is bound in flywheel control module, flies according to satellite gravity anomaly Data Control Wheel.
The brshless DC motor equivalent topologies structure of flywheel described in step 1 includes:
Switch converters, three-phase full-bridge inverter and brshless DC motor；Conducting Y-connection mode two-by-two, the most in a flash Upper and lower bridge arm is respectively arranged with a commutation pipe and simultaneously turns on, and brshless DC motor is carried out normal commutation.
Described step 2 farther includes:
Under flywheel operates in continuous conduction mode, switch converters is carried out small signal linearization analysis, according to inductance The characteristic that electric current and capacitance voltage will not be undergone mutation obtains small-signal model and the flywheel instantaneous model of switch converters.
Described step 3 farther includes:
Flywheel instantaneous model matrix form is represented, is converted to state space form, obtains state-space model.
Described step 4 farther includes:
Choose sliding-mode surface equation, be calculated sliding-mode surface.
Described step 5 farther includes:
Flywheel Equivalent control law is obtained according to sliding formwork unvarying condition.
The present invention has the beneficial effect that:
The sliding-mode method controlled for flywheel high precision disclosed by the invention, has good stability, strong robustness, good The features such as dynamic quality and easily realization, insensitive on Parameters variation and do not affected by external disturbance, it is particularly suitable for pulsewidth Modulation switch changer.
Other features and advantages of the present invention will illustrate in the following description, and, becoming from description of part Obtain it is clear that or understand by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write Structure specifically noted in book, claims and accompanying drawing realizes and obtains.
Accompanying drawing explanation
Accompanying drawing is only used for illustrating the purpose of specific embodiment, and is not considered as limitation of the present invention, at whole accompanying drawing In, identical reference marks represents identical parts.
Fig. 1 is a kind of sliding-mode method topology diagram controlled for flywheel high precision of the present invention；
Fig. 2 is a kind of sliding-mode method topological structure current direction figure controlled for flywheel high precision of the present invention；
Fig. 3 is a kind of sliding-mode method block diagram controlled for flywheel high precision of the present invention；
Fig. 4 is the flywheel moment response curve using convention proportional-integral-plusderivative control method；
Fig. 5 is the flywheel moment response curve that the present invention uses sliding-mode method.
Detailed description of the invention
Specifically describing the preferred embodiments of the present invention below in conjunction with the accompanying drawings, wherein, accompanying drawing constitutes the application part, and Together with embodiments of the present invention for explaining the principle of the present invention.
A specific embodiment according to the present invention, discloses a kind of sliding-mode method controlled for flywheel, such as Fig. 3 institute Show, specifically include following steps:
(1) the brshless DC motor equivalent topologies structure of flywheel is set up
As it is shown in figure 1, flywheel uses three-phase six state brshless DC motor to drive, brshless DC motor equivalent topologies structure Including switch converters, three-phase full-bridge inverter and brshless DC motor；Conducting Y-connection mode, the most upper and lower two-by-two Brachium pontis is respectively arranged with a commutation pipe and simultaneously turns on, and brshless DC motor carries out normal commutation, has six kinds of states in one week, also referred to as Two are conducted star three-phase flow state.
By in diverter six bridge circuit that phase changer forms switchings electric current by tri-windings of a, b, c, such as VT1 When turning on VT6, electric current enters b winding from a winding and goes out；Being parallel with fly-wheel diode by each phase changer is to carry during the shutoff of commutation pipe For freewheeling path.Being changed by the state of phase changer makes rotor rotate with magnetic field.The counter electromotive force that coil can be utilized to produce becomes Change the position signalling obtaining rotor；Or the position letter of rotor is obtained by the fly-wheel diode state of detection conducting coil Number.
Wherein, UDCFor motor busbar voltage；VTi (i=1-6) is commutation pipe；VT7 is switch converters；VT8 is braking Pipe；VDi (i=1-8) is fly-wheel diode；VD is fly-wheel diode；L is switched inductors；C is switching capacity；I is switch change-over Device electric current；U is switch converters voltage；imFor current of electric；V is switching capacity voltage；RpFor power resistor；RsFor sampling electricity Resistance；Rm、LmIt is respectively winding equivalent resistance and inductance；ea、eb、ecIt is respectively a, b, c winding counter electromotive force.Wherein UDC、L、C、Rp、 Rs、Rm、Lm、ea、eb、ecParameter is intrinsic parameter, and i, im, v is for obtain by sensor measurement.
Assume that brshless DC motor three-phase windings is symmetrical and parameter is identical, ignore the impact of winding commutation, and with a, b As a example by winding two is conducted, obtain current direction in brshless DC motor topological structure, as shown in Figure 2.
(2) according to the brshless DC motor equivalent topologies structure of flywheel, flywheel instantaneous model is calculated
Flywheel operational mode includes continuous conduction mode (being equivalent to power up) and Disconnected mode, leads continuously when flywheel operates in Under logical pattern, as a example by VT7 conducting, VT8 cut-off, switch converters VT7 is carried out small signal linearization analysis, according to inductance electricity The characteristic that stream and capacitance voltage will not be undergone mutation has: the small-signal model of switch converters can be expressed as:Flywheel instantaneous model can be expressed as: In formula, w is motor speed, KtIt is Rotary Inertia of Flywheel, B for motor torque coefficient, JvFor damped coefficient, KeFor counter electromotive force system Number, u are controlled quentity controlled variable, TdFor disturbance torque.
(3) flywheel state-space model is calculated
Writ state variable x1=u, x2=i, x3=im, x4=ω, then vector x=[x1,x2,x3,x4]T=[u, i, im,ω ]T, flywheel instantaneous model matrix form is represented, is converted to state space form, obtaining state-space model is:
x · = x · 1 x · 2 x · 3 x · 4 = 0 1 C 1 C 0 - 1 L 0 0 0 1 2 L m 0 - 2 R m + R s 2 L m - K e 2 L m 0 0 K t J - B v J x + 0 U D C L 0 0 u + 0 - ΔV T L - ΔV T L m - T d J
OrderCan obtain according to state-space modelWherein RnTieing up the real vector space for n, f (x), g (x) belong to RnOn fill The vector field that light splitting is sliding.
(4) in order to meet sliding formwork unvarying condition, sliding surface modular equation is selected
Switch converters only has turn-on and turn-off two states, and flywheel sliding-mode method can arrive sliding-mode surface, not only as early as possible Meet asymptotically stability condition, and the most preferable dynamic characteristic.Permissible in order to make sliding-mode surface equation comprise flywheel as much as possible The parameter measured, instructs more responsive to reference rotation velocity, and choosing sliding-mode surface equation is:
s ( x ) = [ c 1 ( v r - x 1 ) + ( v · r - x · 1 ) ] + [ c 2 ( i m r - x 3 ) + ( i · m r - x · 3 ) ] + c 3 [ ( w r - x 4 ) + ( w · r - x · 4 ) ]
In formula, c1、c2、c3For parametric variable；vrFor reference switch capacitance voltage；imrFor with reference to current of electric；ωrFor ginseng Examine motor speed,It is respectively vr、imr、ωrFirst derivative.Given flywheel controls target desired value vr、imr And ωrAfter, the holding of its value is constant and first derivative is 0, and therefore can be calculated sliding-mode surface is
s ( x ) = - ( x 1 + 1 2 L m ) x 1 - 1 C x 2 - ( x 2 - 1 C - 2 R m + R s 2 L m + K t J ) x 3 - ( c 3 - K e 2 L m - B v J ) x 4 + ( c 1 v r + c 2 i m r + c 3 w r + ΔV T L m + T d J )
(5) analytical Calculation flywheel Equivalent control law
According to sliding formwork unvarying condition s (x)=0, obtaining flywheel Equivalent control law is
u e q = - C L U D C · { ( A 3 2 L m - A 2 L - A 1 2 CA 2 ) · x 1 + [ K t A 4 J - A 1 C - A 1 A 3 CA 2 - ( 2 R m + R s ) · A 3 2 L m ] · x 3 - ( K e A 3 2 L m + B v A 4 J + A 1 A 4 CA 2 ) · x 4 + DA 1 CA 2 }
Wherein
(6) flywheel Equivalent control law is bound in flywheel control module, according to satellite gravity anomaly Data Control flywheel.
The present embodiment is as a example by flywheel engineering prototype measured value, and flywheel parameter is as follows: UDC=27V, Δ VT=0.6V, J= 0.027kgm2, Kt=0.031Nm/A, Ke=0.018V/rpm, Bv=2.7 × 10-4, C=35uF, Lm=42uH, Rm=0.15 Ω, Rp=4.3 Ω, Rs=0.12 Ω, L=0.55mH, Td=0.002Nm, c1=0.01, c2=0.03, c3=0.02.
Use above-mentioned experimental data, ambient temperature be 20 ± 1 DEG C, within vacuum 10Pa, sample frequency 1/Ts= Under the situation of 100Hz, it is respectively adopted convention proportional-integral-differential method and on flywheel, carries out moment responses with sliding-mode method Experiment, controls flywheel by the Equivalent control law parsed and moves, produce moment responses.Fig. 4 and Fig. 5 sets forth given Torque command 0.04Nm, when rotating speed reaches 5000rpm, torque command changes 0Nm into, uses convention proportional-integral-differential method Moment responses curve chart with the flywheel that the sliding-mode method of the present invention draws.In figure, abscissa is time (second), and vertical coordinate is clean Moment (Nm).
Result of the test shows: the sliding-mode method controlled for flywheel high precision disclosed in this invention, good stability, robust Property strong and good dynamic quality and easily realization etc., insensitive on Parameters variation and do not affected by external disturbance, especially It is suitable for pwm switch changer.Flywheel moment responses error forever is reduced to 0.002Nm from 0.01Nm, improves flywheel moment Precision, and moment responses is more smooth.
It will be understood by those skilled in the art that all or part of flow process realizing above-described embodiment method, can be by meter Calculation machine program instructs relevant hardware and completes, and described program can be stored in computer-readable recording medium.Wherein, institute Stating computer-readable recording medium is disk, CD, read-only store-memory body or random store-memory body etc..
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement, All should contain within protection scope of the present invention.

Claims (6)

1. the sliding-mode method controlled with flywheel, it is characterised in that comprise the following steps:
Step 1, set up the brshless DC motor equivalent topologies structure of flywheel；
Step 2, brshless DC motor equivalent topologies structure according to flywheel, calculate flywheel instantaneous model；
Step 3, calculating momenttum wheel state-space model；
Step 4, selection sliding surface modular equation；
Step 5, analytical Calculation flywheel Equivalent control law
Step 6, flywheel Equivalent control law is bound in flywheel control module, according to satellite gravity anomaly Data Control flywheel.
The sliding-mode method controlled for momenttum wheel high accuracy the most according to claim 1, it is characterised in that institute in step 1 The brshless DC motor equivalent topologies structure stating flywheel includes:
Switch converters, three-phase full-bridge inverter and brshless DC motor；Conducting Y-connection mode, the most upper and lower two-by-two Brachium pontis is respectively arranged with a commutation pipe and simultaneously turns on, and brshless DC motor is carried out normal commutation.
The sliding-mode method controlled for momenttum wheel high accuracy the most according to claim 1, it is characterised in that described step 2 Farther include:
Under flywheel operates in continuous conduction mode, switch converters is carried out small signal linearization analysis, according to inductive current The characteristic will not undergone mutation with capacitance voltage obtains small-signal model and the flywheel instantaneous model of switch converters.
The sliding-mode method controlled for momenttum wheel high accuracy the most according to claim 1, it is characterised in that described step 3 Farther include:
Flywheel instantaneous model matrix form is represented, is converted to state space form, obtains state-space model.
The sliding-mode method controlled for momenttum wheel high accuracy the most according to claim 1, it is characterised in that described step 4 Farther include:
Choose sliding-mode surface equation, be calculated sliding-mode surface.
The sliding-mode method controlled for momenttum wheel high accuracy the most according to claim 1, it is characterised in that described step 5 Farther include:
Flywheel Equivalent control law is obtained according to sliding formwork unvarying condition.
CN201610629062.8A 2016-08-03 2016-08-03 Sliding formwork method for flywheel control Pending CN106026794A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109164824A (en) * 2018-10-25 2019-01-08 北京航空航天大学 A kind of probabilistic Spacecraft Attitude Control method of consideration flywheel
CN110442024A (en) * 2019-08-13 2019-11-12 武汉理工大学 Multi input nonlinear ship water temperature control system based on Sliding mode variable structure control

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103699131A (en) * 2013-12-26 2014-04-02 北京控制工程研究所 Fault-tolerant control method for discrete integral sliding mode of satellite control system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103699131A (en) * 2013-12-26 2014-04-02 北京控制工程研究所 Fault-tolerant control method for discrete integral sliding mode of satellite control system

Non-Patent Citations (2)

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Title
张聪等: "惯性动量轮滑模变结构控制", 《中国电机工程学报》 *
陈隆昌等: "《控制电机》", 31 December 2013 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109164824A (en) * 2018-10-25 2019-01-08 北京航空航天大学 A kind of probabilistic Spacecraft Attitude Control method of consideration flywheel
CN109164824B (en) * 2018-10-25 2020-04-21 北京航空航天大学 Spacecraft attitude control method considering uncertainty of flywheel
CN110442024A (en) * 2019-08-13 2019-11-12 武汉理工大学 Multi input nonlinear ship water temperature control system based on Sliding mode variable structure control

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