东篱科研大数据发现系统（DRDS）

位置：成果数据库 > 期刊 > 期刊详情页

提高双框架磁悬浮CMG动态响应能力的磁轴承补偿控制方法与试验研究

期刊名称：机械工程学报
时间：0
页码：22-28
分类：TP273.2[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] V448.22[航空宇航科学与技术—飞行器设计;航空宇航科学技术]
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]北京航空航天大学新型惯性仪表与导航系统技术国防重点学科实验室,北京100191
相关基金：国家自然科学基金（60736025）; 国家杰出青年科学基金（60825305）资助项目
相关项目：导航、制导与传感技术

关键词：控制力矩陀螺, 磁轴承, 角加速度, 鲁棒H∞滤波, Control moment gyroscope Magnetic bearing Angular acceleration Robust H∞filtering

中文摘要：

针对高动态响应双框架磁悬浮控制力矩陀螺对高速转子悬浮精度的影响,分析磁悬浮高速转子与内、外框架非线性耦合特性,建立内外框架转动时的高速转子动力学模型。该模型在原有陀螺力矩的基础上兼顾转动惯性力矩,考虑到转动惯性力矩中框架角加速度变量在测量过程中存在的不确定干扰和噪声,采用鲁棒H∞滤波对内外框架角加速度进行滤波估计;在此基础上,根据力矩补偿控制策略,利用磁轴承控制系统驱动线圈产生相应的电磁力,对转动惯性力矩和陀螺力矩进行补偿控制。试验结果表明,H∞滤波对于噪声的不确定性具有良好的鲁棒性,磁悬浮高速转子跳动量减至补偿前的30%以内,提高了磁悬浮系统的稳定性和悬浮精度,改善了控制力矩陀螺的力矩输出特性。

英文摘要：

To solve the high-speed rotor suspension precision problem caused by quick maneuvering of double gimbal magnetically suspended control moment gyro,the nonlinear coupling characteristics among inner gimbal,outer gimbal and magnetically suspended high-speed rotor are investigated.The dynamic model of the high-speed rotor with the rotation of inner and outer gimbals is set up.The rotational inertia torque and gyroscopic torque are involved in this model.Because of the uncertain disturbances and noise existing in the measurement of gimbal angular acceleration which is used as the variable of the rotational inertia torque,angular acceleration estimations of inner and outer gimbals are carried out by using robust H∞ filtering method.According to the torque compensation control strategy,the drive coil of magnetic bearing control system is used to produce corresponding electromagnetic force for compensation control of rotational inertia torque and gyroscopic torque.Experimental results show that the H∞ has good robustness to the noise uncertainty,and the runout of magnetically suspended high-speed rotor is reduced to within 30% of that before compensation,thus improving the stability of magnetic suspension system,the suspension precision and the torque output characteristic of control moment gyroscope.

同期刊论文项目