中文摘要：

为了提高惯性动量轮的输出力矩精度,针对惯性动量轮存在的内干扰力矩,提出一种基于干扰观测器的扰动抑制策略.通过建立惯性动量轮动力学模型,分析得出目前的惯性动量轮力矩控制不能无差地跟随阶跃力矩指令,进而设计了干扰观测器,并根据估计出的扰动力矩计算得到补偿控制电压.设计控制系统并采用该方法,在惯性动量轮工程样机上进行实验研究.结果表明：采用基于干扰观测器的扰动抑制策略,使惯性动量轮输出力矩精度从0.01 N·m提高到0.002 N·m,转速和力矩响应曲线更平滑.

英文摘要：

To improve the output torque accuracy, a novel disturbance rejection strategy was presented with disturbance observer, based on the internal disturbance torque of inertia momentum wheel. By establis- hing the dynamic model of inertia momentum wheel, the existing torque control system was analyzed. The a- nalysis results indicated that the torque control couldn＇t track the torque instruction without deflection, essen- tially. The proposed disturbance observer was designed. According to the estimated disturbance torque, the compensation control voltage was calculated. Ultimately, the control system was designed to carry out experi- mentations on the prototype of inertia momentum wheel. Experimental results demonstrate that the output torque accuracy can be improved from 0.01 N · m to 0. 002 N · m by the disturbance rejection strategy. And the rotational speed and torque response curves are more smooth.