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针对非线性影响因素对FRA控制精度的影响,分析了黏性对射流动量控制(FRA,Fluidic Ring Actuator)模型精度的影响以及摩擦对压力泵控制精度的影响.对前者,推导出黏性对FRA角动量传递的影响方程,得到附面层动量损失厚度模型以及管流动量损失模型;对后者,设计了摩擦补偿控制律,以改善指令跟踪精度.将上述两部分模型组合到FRA动力学模型中,得到了适用于高精度姿态控制的精细FRA动力学与控制模型.设计了姿态控制律并进行了稳定性证明.仿真结果验证了FRA精细模型对提高姿态控制精度的有效性.
In view of the influence of nonlinear factors on the accuracy of FRA control, the influence of viscosity on the accuracy of the FRA (Fluidic Ring Actuator) model and the effect of friction on the control accuracy of the pressure pump are analyzed. For the former, FRA angular momentum transfer equation, the thickness loss model of the momentum loss and the flow loss model are obtained. For the latter, the friction compensation control law is designed to improve the tracking accuracy. Combining the above two models into the FRA dynamics Model, a precise FRA dynamics and control model suitable for high-precision attitude control is obtained.The attitude control law is designed and the stability is proved.The simulation results validate the effectiveness of the FRA model for improving the attitude control accuracy.