磁悬浮控制敏感陀螺转子前馈解耦内模控制

doi:10.13700/j.bh.1001-5965.2017.0190

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

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. 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. 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/Abstract

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

中图分类号:

V448.2

夏长峰, 蔡远文, 任元, 武登云, 王英广. 磁悬浮控制敏感陀螺转子前馈解耦内模控制[J]. 北京航空航天大学学报, 2018, 44(3): 480-488.

XIA Changfeng, CAI Yuanwen, REN Yuan, WU Dengyun, WANG Yingguang. Feedforward decoupling and internal model control for rotor of magnetically suspended control and sensing gyroscope[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2018, 44(3): 480-488.

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磁悬浮控制敏感陀螺转子前馈解耦内模控制

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

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