Abstract：The motion range of reaction sphere actuator is large. When the Euler angle is used to describe its posture, it is easy to produce singularities. In this paper, the quaternion is used as the attitude description and the dynamic equation of the rigid body rotation is combined to obtain the dynamic model of the reaction sphere actuator. The spherical harmonic function is used to describe the electromagnetic torque model of the reaction sphere actuator. During the operation of the reaction sphere actuator, the temperature of the environment will increase gradually and the electromagnetic parameters will change. In order to ensure its better dynamic performance, the position / current double closed loop control method is adopted in this paper. The linear self disturbance rejection control is adopted in the position loop to realize the dynamic compensation of the disturbance and improve the rapidity and dynamic response capability of the permanent magnet momentum exchange ball. The current loop adopts proportional integral control is adopted to ensure its accurate tracking of the target trajectory. The simulation results show that the current / position double loop control has better tracking performance than the single alone disturbance rejection control method.
李洪凤, 林康, 李斌, 李桂丹. 基于四元数的永磁动量球位置/电流双闭环控制[J]. 电工技术学报, 2019, 34(zk2): 484-492.
Li Hongfeng, Lin Kang, Li Bin, Li Guidan. Position and Current Double Closed Loop Control of Reaction Sphere Actuator Based on Quaternion. Transactions of China Electrotechnical Society, 2019, 34(zk2): 484-492.
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2019, Vol. 34 
