一种新型陀螺的力矩器非圆性误差补偿方法

doi:10.13700/j.bh.1001-5965.2017.0604

北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (8): 1755-1763.doi: 10.13700/j.bh.1001-5965.2017.0604

一种新型陀螺的力矩器非圆性误差补偿方法

陈国越, 王华, 任元, 辛朝军

航天工程大学宇航科学与技术系, 北京 101416

收稿日期:2017-09-26 修回日期:2018-01-05 出版日期:2018-08-20 发布日期:2018-08-29
通讯作者: 任元 E-mail:renyuan_823@aliyun.com
作者简介:陈国越,男,硕士研究生。主要研究方向:磁悬浮控制敏感陀螺的测量;王华,男,博士,教授,博士生导师。主要研究方向:飞行器测试与发射;任元,男,博士,副教授,硕士生导师。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）

A new gyro torquer's non-circular error compensation method

CHEN Guoyue, WANG Hua, REN Yuan, XIN Chaojun

Department of Aerospace Science and Technology, Space Engineering University, Beijing 101416, China

Received:2017-09-26 Revised:2018-01-05 Online:2018-08-20 Published:2018-08-29
Supported by:
National Natural Science Foundation of China (51475472, 61403396)

摘要/Abstract

摘要： 为提高磁悬浮控制敏感陀螺（MSCSG）对陀螺载体姿态的敏感精度，基于其洛伦兹力磁轴承（LFMB）的设计结构，提出了一种力矩器非圆性误差补偿方法。首先，针对一种新型双球形包络面转子MSCSG，介绍了MSCSG的结构特点与陀螺载体姿态角速度敏感原理，并分别建立了MSCSG力矩器半径误差模型、转子偏转干扰力矩模型与陀螺载体姿态角速度敏感误差模型。其次，通过实验测量了力矩器的圆度，通过MATLAB进行数据拟合得到了力矩器的非圆特性，采用勒让德多项式级数对力矩器非圆性进行了描述，并有效补偿了因力矩器非圆性误差导致的姿态角速度敏感误差。最后，对误差补偿效果进行了仿真验证，结果表明该补偿方法使陀螺载体姿态角速度敏感误差降低了83.5%。此外，本文方法还可以解决LFMB陀螺的相关共性问题。

关键词: 磁悬浮控制敏感陀螺(MSCSG), 力矩器, 洛伦兹力磁轴承(LFMB), 姿态角速度敏感, 非圆性误差补偿

Abstract: Based on the structural design of the Lorentz force magnetic bearing (LFMB), a kind of torquer's non-circular error compensation method is put forward to enhance the sensitivity accuracy of magnetically suspended control sensitive gyroscope (MSCSG) to gyro carrier attitude. First, for a new type MSCSG with double spherical envelope rotor, the structure features of MSCSG and the attitude angular velocity measurement principle of the gyro carrier are introduced and the radius error model of MSCSG torquer, the interference torque model of rotor's deflection and the measurement error model of the gyro carrier's attitude angular velocity are set up. Then, the roundness of torquer is measured through the experiment, and data fitting is conducted by MATLAB to obtain the non-circular characteristic of the torquer. The non-circular characteristic is described by Legendre polynomial series, and the measurement error of the gyro carrier's attitude angular velocity caused by the torquer's non-circular error is compensated effectively. Finally, the effect of error compensation is verified by the simulation and the results show that the compensation method makes the measurement error of the gyro carrier's attitude angular velocity reduce by 83.5%. In addition, the proposed method can solve the common problems related to LFMB gyro.

Key words: magnetically suspended control sensitive gyroscope (MSCSG), torquer, Lorentz force magnetic bearing (LFMB), attitude angular velocity sensitivity, non-circular error compensation

中图分类号:

V448.2

陈国越, 王华, 任元, 辛朝军. 一种新型陀螺的力矩器非圆性误差补偿方法[J]. 北京航空航天大学学报, 2018, 44(8): 1755-1763.

CHEN Guoyue, WANG Hua, REN Yuan, XIN Chaojun. A new gyro torquer's non-circular error compensation method[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2018, 44(8): 1755-1763.

参考文献

[1] FANG J,WANG C,TANG J.Modeling and analysis of a novel conical magnetic bearing for vernier-gimballing magnetically suspended flywheel[J].ARCHIVE Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2013,228(13):2416-2425.
[2] HAN B,ZHENG S,WANG Z,et al.Design,modeling,fabrication,and test of a large-scale single-gimbal magnetically suspended control moment gyro[J].IEEE Transactions on Industrial Electronics,2015,62(12):7424-7435.
[3] CUI P,CUI J,YANG Q,et al.The coupling characteristic investigation of double-gimbal magnetically suspended control moment gyro used on agile maneuver spacecraft[J].Mathematical Problems in Engineering,2015,2015:278145.
[4] REN Y,FANG J.Modified cross feedback control for a magnetically suspended flywheel rotor with significant gyroscopic effects[J].Mathematical Problems in Engineering,2014,2014:325913.
[5] BOLETIS A,BARROT F,MOSER R.Three axis active magnetic levitation for inertial sensing systems:US7252001[P].2007-08-07.
[6] BOSGIRAUD T.Two degrees of freedom miniaturized gyroscope based on active magnetic bearings[D].Lausanne:Ecole Polytechnique Federale de Lausanne,2008:1-15.
[7] ZHANG H H.Measuring attitude rates through angular momentum gyros[J].Journal of Spacecraft & Rockets,2012,36(36):919-921.
[8] TYC G,STALEY D A,WHITEHEAD W R,et al.GyroWheel ^TM-An innovative new actuator/sensor for 3-axis spacecraft attitude control[C]//Proceedings of 13th Annual AIAA/USU Conference on Small Satellites.Reston:AIAA,1999:23-26.
[9] WALKTY I,PETERSEN J,DOHERTY T,et al.SCISAT-1 ACE mission C&DH unit development[C]//Proceedings of 14th Annual AIAA/USU Conference on Small Satellites.Reston:AIAA,2000:1-13.
[10] MARUYAMA Y,MIZUNO T,TAKASAKI M,et al.An application of active magnetic bearing to gyroscopic and inertial sensors[J].Journal of System Design & Dynamics,2008,2(1):155-164.
[11] 刘彬,房建成,刘刚.一种磁悬浮陀螺飞轮方案设计与关键技术分析[J].航空学报,2011,32(8):1478-1487.LIU B,FANG J C,LIU G.Design of a magnetically suspended growheel and analysis of key technologies[J].Acta Aeronautica et Astronautica Sinica,2011,32(8):1478-1487(in Chinese).
[12] 任元,王卫杰,刘强,等.一种磁悬浮控制敏感陀螺:ZL201510006597.5[P].2017-04-28.REN Y,WANG W J,LIU Q,et al.A kind of magnetically suspended control sensitive gyroscope:ZL201510006597.5[P].2017-04-28(in Chinese).
[13] 刘强,武登云,樊亚洪,等.双定子三自由度解耦洛伦兹力磁轴承:CN204572783U[P].2015-06-24.LIU Q,WU D Y,FAN Y H,et al.Double stator three degrees of freedom decoupling Lorentz force magnetic bearing:CN204572783U[P].2015-06-24(in Chinese).
[14] 刘强,任元,王卫杰,等.一种双永磁体内转子永磁偏置球面径向磁轴承:,CN204267528U[P].2015-02-25.LIU Q,REN Y,WANG W J,et al.A permanent magnet bias spherical radial magnetic bearing with double permanent magnets:CN204267528U[P].2015-02-25(in Chinese).
[15] 辛朝军.磁悬浮控制敏感陀螺误差分析与补偿方法研究[D].北京:航天工程大学,2017:15.XIN C J.Error analysis and compensation method study of a magnetically suspended sensitive gyroscope[D].Beijing:Space Engineering University,2017:15(in Chinese).
[16] 许国锋,蔡远文,任元,等.洛伦兹力磁轴承磁密均匀度设计与分析[J].北京航空航天大学学报,2017,43(3):559-566.XU G F,CAI Y W,REN Y,et al.Design and analysis on uniformity of magnetic flux density in Lorentz force-type magnetic bearing[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(3):559-566(in Chinese).

一种新型陀螺的力矩器非圆性误差补偿方法

A new gyro torquer's non-circular error compensation method

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	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.
[2]	夏长峰, 蔡远文, 任元, 王卫杰, 樊亚洪, 尹增愿. MSCSG转子不平衡振动原理分析与建模[J]. 北京航空航天大学学报, 2018, 44(11): 2321-2328.
[3]	许国锋, 蔡远文, 任元, 樊亚洪, 孙津济, 赵航. 洛伦兹力磁轴承磁密均匀度设计与分析[J]. 北京航空航天大学学报, 2017, 43(3): 559-566.
[4]	王斌, 董云峰. 磁力矩器的刚度控制技术及应用[J]. 北京航空航天大学学报, 2008, 34(06): 686-689.