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浙江大学学报(工学版)
浙江大学学报(工学版)  2017, Vol. 51 Issue (12): 2436-2443    DOI: 10.3785/j.issn.1008-973X.2017.12.017
航空航天技术     
微型反作用飞轮速度估计与控制策略研究
刘光辉1, 周军1, GUO Jian2, 马学龙1, 王成飞1
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. Faculty of Aerospace Engineering, Delft University of Technology, Delft, 2629 HS The Netherlands
Speed estimation and control strategy for micro-reaction wheel
LIU Guang-hui1, ZHOU Jun1, GUO Jian2, MA Xue-long1, WANG Cheng-fei1
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. Faculty of Aerospace Engineering, Delft University of Technology, Delft, 2629 HS The Netherlands
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摘要：

为了满足皮纳卫星、立方星的姿态控制精度要求，提高微型反作用飞轮控制精度，基于开关式霍尔元件，设计测速与控制总体方案，提出一种将变分频T法与带速度切换迟滞环的滑动均值滤波相结合的速度估计方法，提高测速精度，并采用积分分离的离散PID算法防止控制饱和.结果表明：速度控制的最大误差≤ 1.5%，平均误差≤ 0.4‰，误差方差≈0.25.2016年6月25日，该飞轮随世界首颗12U立方星"翱翔之星"搭载"长征7号"发射入轨，实现卫星三轴稳定，在轨服役99 d直到卫星坠入大气层，圆满完成任务.地面测试与在轨运行结果表明，所采用的方案有效可行，速度估计与控制算法能够满足卫星姿态控制系统的任务需求.
Abstract:

The speed control accuracy of micro-reaction wheel was improved in order to meet the accuracy requirements for the attitude control of pico-nano satellites and CubeSat. The speed measuring and control system was designed with the switch-type Hall sensor,a speed estimation method was proposed to ameliorate the measurement accuracy,which was combined of time measuring by variable prescalerT-method and average sliding filter with speed switching hysteresis loop. The discrete PID algorithm of integral separation was utilized to prevent the control saturation. Results show that the maximum error of speed control is less than 1.5%, the average error of speed control is less than 0.4‰ and the error variance of speed controlis about 0.25. The reaction wheel provided three-axis stability for the satellite, as an important part of the world's first 12U CubeSat "Star of AoXiang", which was launched by "CZ-7" on June 25, 2016. The satellite had successfully worked until atmospheric re-entry after 99 days. The ground test and in-orbit service of the satellite show that the proposed method is feasible and effective,both the speed estimation method and the control algorithm can satisfy the mission requirement of satellite attitude control system.
收稿日期: 2017-04-20 出版日期: 2017-11-22
CLC:  V448.22  
基金资助:

航天支撑技术基金资助项目（2015KC020117）；2011年欧盟第七框架协议支持项目（284427）.
作者简介: 刘光辉(1983-),男,助理研究员,博士,从事星载/弹载电气系统、执行机构研究.orcid.org/0000-0001-8993-3568.E-mail:liuguanghui@nwpu.edu.cn
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引用本文:

刘光辉, 周军, GUO Jian, 马学龙, 王成飞. 微型反作用飞轮速度估计与控制策略研究[J]. 浙江大学学报(工学版), 2017, 51(12): 2436-2443.

LIU Guang-hui, ZHOU Jun, GUO Jian, MA Xue-long, WANG Cheng-fei. Speed estimation and control strategy for micro-reaction wheel. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(12): 2436-2443.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.12.017    或    http://www.zjujournals.com/eng/CN/Y2017/V51/I12/2436

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