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中文摘要：
针对主被动磁悬浮控制力矩陀螺转子高速旋转时产生的不平衡振动,提出了基于滑模观测器和陷波器的主被动磁悬浮转子不平衡振动自适应控制方法.该方法采用滑模观测器使同频振动的控制不受磁轴承的刚度参数摄动和磁力耦合的影响,将滑模观测器与陷波器结合,无需区分电流刚度力和位移刚度力,无需设计算法补偿功率放大器的影响,可自适应消除不平衡振动.对该方法进行了仿真和实验验证.仿真结果显示该方法可使同频轴承力大幅减小;实验结果显示,虽然主被动磁悬浮转子的被动轴承不可控,同频振动仍由0.053g减小为0.012g,减小了77％.得到的结果表明,该方法不仅适用于主被动磁悬浮转子,也适用于全主动磁悬浮转子.
英文摘要：
For the unbalance vibration of an active-passive hybrid magnetically suspended rotor caused by high speed rotation,an adaptive control method based on a sliding mode observer and a notch filter was proposed to improve the pointing accuracy and stability of attitude control for a spacecraft.The sliding mode observer was adapted to eliminate the effects of rigidity parameter perturbation and magnetic force coupling of the magnetic bearing on the synchronous vibrations and the sliding mode observer combining with the notch filter was used to eliminate adaptively the unbalance vibration of the rotor and to ensure the method without distinguishing the displacement stiffness force and the current stiffness force,and also not need to design an algorithm to compensate the influences caused by a power amplifier.The simulation and experiments were performed.Simulation results demonstrate that this method reduces the synchronous bearing force significantly; Experiment results demonstrate that this method reduces the synchronous vibrations from 0.053g to 0.012g,reduced by 77％ even if the passive magnetic bearings cannot be controlled.Moreover,the method is not only suitable for the active-passive hybrid magnetically suspended rotors but also for the all-active magnetically suspended rotors.
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