摘要控制力矩陀螺（control moment gyroscope，CMG）是飞行器在轨姿态控制的重要执行机构之一，通过内部高速旋转的飞轮储存角动量，利用伺服机构驱动框架旋转输出力矩。安装隔振器可有效减少由高速旋转飞轮产生的不平衡力对飞行器上高精度载荷的影响。建立伺服机构三环控制模型和一个单自由度隔振器模型，揭示了隔振器引起伺服系统速度环耦合失稳的现象。通过分析隔振器频率、阻尼比、惯量等关键设计参数对速度环稳定性的影响，对隔振器进行详细设计，试验结果全流程验证了考虑伺服机构控制稳定性的CMG隔振器设计流程和隔振效果，为同类型产品设计提供了工程经验。
Abstract：Control moment gyroscope (CMG) is one important kind of actuators for on-orbit attitude control of the spacecraft. It stores the angular momentum by the high speed rotating flywheel and produces moment through rotating the gimbal by a servo mechanism. The vibration isolator can effectively reduce the influence on the high precision payloads caused by the unbalanced load from the rotating flywheel. A typical triple closed-loop control model of servo mechanism and an isolator with single degree of freedom are established to reveal that isolator can cause the instability of the speed loop in servo control system. Analysis and discussion on the influence of the stability, corresponding to the key design parameters of isolator, including frequency, damping ratio and inertia, are provided for detailed isolator design. Experiment results fully verify the entire design procedure and isolation effectiveness of a CMG isolator considering control stability, providing practical engineering experience for the design of similar products.
潘望白1，吕亮亮1，王董华2，刘钰1，方贤亮1，吴琳娜1. CMG框架伺服控制与隔振器耦合稳定性分析[J]. 振动与冲击, 2024, 43(3): 287-294.
PAN Wangbai1, L Liangliang1, WANG Donghua2, LIU Yu1, FANG Xianliang1, WU Linna1. Stability analysis on CMG gimbal servo control and vibration isolator coupling. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(3): 287-294.
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