北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (3): 480-488.doi: 10.13700/j.bh.1001-5965.2017.0190

• 论文 • 上一篇    下一篇

磁悬浮控制敏感陀螺转子前馈解耦内模控制

夏长峰1, 蔡远文2, 任元2, 武登云3, 王英广3   

  1. 1. 装备学院研究生院, 北京 101416;
    2. 装备学院航天装备系, 北京 101416;
    3. 北京控制工程研究所, 北京 100190
  • 收稿日期:2017-03-30 出版日期:2018-03-20 发布日期:2017-09-18
  • 通讯作者: 任元 E-mail:renyuan_823@aliyun.com
  • 作者简介:夏长峰,男,博士研究生。主要研究方向:磁悬浮控制敏感陀螺的测量与控制;蔡远文,男,博士,教授。主要研究方向:航天器测试与发射;任元,男,博士,副教授。主要研究方向:导航、制导与控制。
  • 基金资助:
    国家自然科学基金(51475472,61403396,51605489)

Feedforward decoupling and internal model control for rotor of magnetically suspended control and sensing gyroscope

XIA Changfeng1, CAI Yuanwen2, REN Yuan2, WU Dengyun3, WANG Yingguang3   

  1. 1. Company of Postgraduate Management, Equipment Academy, Beijing 101416, China;
    2. Department of Space Equipment, Equipment Academy, Beijing 101416, China;
    3. Beijing Institute of Control Engineering, Beijing 100190, China
  • Received:2017-03-30 Online:2018-03-20 Published:2017-09-18
  • Supported by:
    National Natural Science Foundation of China (51475472, 61403396, 51605489)

摘要: 磁悬浮控制敏感陀螺以洛伦兹力磁轴承(LFMB)为力矩器驱动转子偏转。针对磁悬浮控制敏感陀螺转子径向转动自由度间存在耦合的问题以及转子偏转高精度快响应要求,提出一种前馈解耦内模控制方法。根据洛伦兹力磁轴承的工作原理建立了转子偏转动力学模型,并设计了前馈解耦矩阵实现转子径向偏转解耦,在此基础上,采用二自由度内模控制器(2-DOF IMC)对转子进行高精度快响应偏转控制。MATLAB仿真结果表明所提出的控制方法可有效实现对陀螺转子偏转的完全解耦,且转子偏转响应时间较交叉PID算法减少57.1%,受0.1sin(2πt)°正弦信号扰动影响产生的偏转波动幅值较交叉PID算法减少76%。

关键词: 磁悬浮控制敏感陀螺, 洛伦兹力磁轴承(LFMB), 径向偏转, 前馈解耦, 二自由度内模控制

Abstract: Magnetically suspended control and sensing gyroscope takes Lorentz force magnetic bearing (LFMB) as torquer to drive the rotor to tilt. As there is coupling between the two radial rotation degrees of freedom and it requires that rotor tilts with high precision and fast response, feedforward decoupling and internal model controller is proposed. Dynamic model for rotor tilting is established based on basic structure of LFMB. Feedforward decoupling matrix is designed to perform tilting decoupling in radial direction, and then on this basis, two-degree-of-freedom internal model controller (2-DOF IMC) is adopted to perform rotor tilting control with high precision and fast response. Simulation results by MATLAB indicate that the proposed method can realize full decoupling for rotor tilting, response time is reduced by 57.1% than that of cross PID controller, and tilting fluctuation amplitude produced by 0.1sin(2πt)° disturbance signal is reduced by 76% than that of cross PID controller.

Key words: magnetically suspended control and sensing gyroscope, Lorentz force magnetic bearing(LFMB), radial tilting, feedforward decoupling, two-degree-of-freedom internal model control

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