Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on &alpha;-order inverse system

CUI Pei-ling; PAN Zhi-ping; LI Hai-tao

doi:10.3788/OPE.20142210.2747

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Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order inverse system

更新时间：2020-08-13

- Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order inverse system
- Optics and Precision Engineering Vol. 22, Issue 10, Pages: 2747-2756(2014)
- 作者机构：
  
  1. 北京航空航天大学仪器科学与光电工程学院北京,100191
  2. 北京航空航天大学惯性技术国家级重点实验室北京,100191
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142210.2747
  CLC： V448;TP275
- Received：24 November 2013，
  
  Revised：20 February 2014，
  
  Published：25 October 2014
- 稿件说明：
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崔培玲, 潘智平, 李海涛. 基于α阶逆系统的两自由度主被动磁悬浮转子解耦控制[J]. 光学精密工程, 2014,22(10): 2747-2756

CUI Pei-ling, PAN Zhi-ping, LI Hai-tao. Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order inverse system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2747-2756
崔培玲, 潘智平, 李海涛. 基于α阶逆系统的两自由度主被动磁悬浮转子解耦控制[J]. 光学精密工程, 2014,22(10): 2747-2756 DOI： 10.3788/OPE.20142210.2747.

CUI Pei-ling, PAN Zhi-ping, LI Hai-tao. Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order inverse system[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2747-2756 DOI： 10.3788/OPE.20142210.2747.

摘要

针对主被动磁悬浮控制力矩陀螺(CMG)磁轴承两径向平动自由度之间存在较强耦合的问题

提出采用阶逆系统方法对主被动磁轴承系统进行解耦控制.首先

根据主被动磁轴承的结构特点

建立了主被动磁悬浮转子径向通道平动力模型以及动力学模型;利用上述模型分析了两径向自由度之间的耦合特性

并对系统进行可逆性分析

得到了原磁轴承系统的阶逆系统模型.然后

将原系统与阶逆系统组合得到二阶积分线性系统

利用最优控制器实现闭环控制.最后

对本文方法进行了仿真及实验.结果表明

当

向有40 m位移阶跃和18 m幅值的正弦干扰时

利用本文方法可将

向位移跳动控制在PID控制方法的13.6%和17.9%

实现了主被动磁悬浮转子两径向平动通道之间的解耦控制.

Abstract

As the Passive and Active Hybrid Magnetic Bearing (PAHMB) in a Magnetic Suspended Control Moment Gyroscope (MSCMG) has the dynamic model coupling between the two radial degrees of freedom (DOF)

this paper proposes an -order inverse system method to perform the decoupling control. A radial channel magnetic force model and a dynamic model for the PAHMB magnetic bearing were established based on the structure characteristics of the hybrid magnetic bear.Then

the model was used to analyze the coupling characteristic between the two radial degrees of freedom. In order to obtain the inverse system model of the PAHMB system

the reversibility of the original system was analyzed. The optimal controller was designed to stabilize the new 2-order integral system by consisting of the original system and the inverse system. Experimental results show that when the

-axis is influenced by 40 m stepping and 18m sine wave

the

-axis displacement with decoupling method will be controlled 13.6% and 7.9% that with PID method. These results demonstrate the effectiveness of the method above in decoupling control of the PAHMB.

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references

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Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order inverse system

DOI：10.3788/OPE.20142210.2747

摘要

Abstract

关键词

Keywords

references