LPV state-feedback control of a control moment gyroscope
LPV state-feedback control of a control moment gyroscope
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DOI：
10.1016/j.conengprac.2013.05.008
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发表时间：
2014-03-01
影响因子：
4.9
通讯作者：
Werner, Herbert
中科院分区：
文献类型：
--
作者：
Abbas, Hossam Seddik;Ali, Ahsan;Werner, Herbert
本文介绍了四自由度控制力矩陀螺仪（CMG）的线性变参数（LPV）控制策略的设计和成功的实验验证。 MIMO 设备是高度耦合和非线性的。首先，使用具有移动工作点的线性化模型来构建 LPV 模型。然后，设计了一种基于网格的 LPV 状态反馈控制，其性能明显优于线性时不变 (LTI) 控制器。此外，还提出了一种为参考输入选择预滤波器增益的方法，该方法可以推广到一大类机械系统。总体而言，该策略允许简单地实时实施，并且可能对卫星姿态控制等应用感兴趣。该方法应用于实验室规模的 CMG，实验结果表明，与文献中报道的线性控制器相比，所提出的 LPV 控制器在更广泛的操作范围内确实取得了更好的性能。 (C) 2013 Elsevier Ltd. 保留所有权利。
This paper presents the design and successful experimental validation of a linear parameter-varying (LPV) control strategy for a four-degrees-of-freedom control moment gyroscope (CMG). The MIMO plant is highly coupled and nonlinear. First, a linearized model with moving operating point is used to construct an LPV model. Then, a gridding-based LPV state-feedback control is designed that clearly outperforms linear time-invariant (LTI) controllers. Moreover, a way is proposed to select pre-filter gains for reference inputs that can be generalized to a large class of mechanical systems. Overall, the strategy allows a simple implementation in real-time and may be of interest for applications such as attitude control of a satellite. The method is applied to a laboratory scale CMG, and experimental results illustrate that the proposed LPV controller achieves indeed a better performance in a much wider range of operation than linear controllers reported in the literature. (C) 2013 Elsevier Ltd. All rights reserved.