双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制

谢进进; 刘刚; 文通

doi:10.3788/OPE.20152308.2211

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双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制

微纳技术与精密机械 | 更新时间：2020-08-12

- 双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制
- Composite compensation for load torque of active magnetic bearing in DGMSCMG
- 光学精密工程 2015年23卷第8期页码：2211-2219
- 作者机构：
  
  北京航空天大学惯性技术重点实验室北京,100191
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.61374029,No.61374211,No.61203203)()
- DOI：10.3788/OPE.20152308.2211
  中图分类号： TP273;V448.22
- 收稿日期：2015-02-08，
  
  修回日期：2015-03-31，
  
  纸质出版日期：2015-08-25
- 稿件说明：
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谢进进, 刘刚, 文通. 双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制[J]. 光学精密工程, 2015,23(8): 2211-2219

XIE Jin-jin, LIU Gang, WEN Tong. Composite compensation for load torque of active magnetic bearing in DGMSCMG[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2211-2219
谢进进, 刘刚, 文通. 双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制[J]. 光学精密工程, 2015,23(8): 2211-2219 DOI： 10.3788/OPE.20152308.2211.

XIE Jin-jin, LIU Gang, WEN Tong. Composite compensation for load torque of active magnetic bearing in DGMSCMG[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2211-2219 DOI： 10.3788/OPE.20152308.2211.

摘要

提出一种基于角速率前馈与力矩观测相结合的磁轴承负载力矩复合补偿控制方法来提高双框架磁悬浮控制力矩陀螺磁悬浮转子的悬浮精度。建立了双框架磁悬浮控制力矩陀螺磁悬浮转子动力学模型

分析了内外框架转动情况下的磁轴承负载力矩。分别基于框架角速率前馈和力矩观测设计了磁轴承负载力矩复合补偿控制方法

分析了补偿后系统的稳定性。最后

利用实验室研制的样机搭建试验平台对本文所提出的方法进行了实验验证。结果表明:在框架以角加速度120(°)/s

启动至10(°)/s时

该方法使转子

端位移跳动量减小为未补偿前的44.8%;内外框架以幅值频率10 Hz正弦激励时

转子

、

端的位移跳动量分别减小为未补偿前的23.4%和35.5%。结果显示提出的方法有效地提高了磁悬浮转子在负载力矩扰动下的悬浮精度。

Abstract

By combining with the angular rate feedforward controller and a load torque observer

a composite compensation method for the load torque of an active magnetic bearing was proposed to improve the suspension accuracy of the magnetically suspended rotor in a Double-gimbal Magnetically Suspended Control Moment Gyro(DGMSCMG). The dynamical model of the magnetically suspended rotor in the DGMSCMG was established

and the load torque of the active magnetic bearing with inner and outer gimbal movements was analyzed. Then the composite compensation control method based on the angular rate feedforward controller and the load torque observer was designed

and the system stability after compensation was discussed. Finally

the performance of the proposed method was verified by a prototype developed by the our laboratory. The experimental results show that the displacement jitters at the end

of the rotor have reduced to 44.8% when angular rates of the gimbal starts from 120(°)/s

to 10(°)/s. Moreover

the displacement jitters have reduced to 23.4% and 35.5% at the end

and end

of the rotor when angular rates of the gimbal are excited by the sinusoidal signal with the amplitude 10(°)/s and frequency of 10 Hz

respectively. The results indicate that the proposed method increases the control accuracy of the magnetically suspended rotor with the load torque by gimbal movements.

关键词

Keywords

references

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