北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (1): 150-158.doi: 10.13700/j.bh.1001-5965.2019.0132

• 论文 • 上一篇    下一篇

基于逆系统解耦的MSCSG姿态测量方法

于春淼1, 汪洲2, 任元2, 王卫杰2, 樊亚洪3   

  1. 1. 航天工程大学 研究生院, 北京 101416;
    2. 航天工程大学 宇航科学与技术系, 北京 101416;
    3. 北京控制工程研究所, 北京 100190
  • 收稿日期:2019-03-27 发布日期:2020-01-21
  • 通讯作者: 任元 E-mail:renyuan_823@aliyun.cn
  • 作者简介:于春淼,男,硕士研究生。主要研究方向:磁悬浮控制敏感陀螺的测量与控制;汪洲,男,博士,副教授。主要研究方向:航天装备仿真与效能评估;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(51475472,51605489);北京市“高创计划”青年拔尖人才项目(2017000026833ZK23)

MSCSG attitude measurement method based on inverse system decoupling

YU Chunmiao1, WANG Zhou2, REN Yuan2, WANG Weijie2, FAN Yahong3   

  1. 1. Company of Postgraduate Management, Space Engineering University, Beijing 101416, China;
    2. Department of Space Science and Technology, Space Engineering University, Beijing 101416, China;
    3. Beijing Institute of Control Engineering, Beijing 100190, China
  • Received:2019-03-27 Published:2020-01-21
  • Supported by:
    National Natural Science Foundation of China (51475472,51605489); Beijing Youth Top-Notch Talent Support Program (2017000026833ZK23)

摘要: 磁悬浮控制敏感陀螺(MSCSG)是一种将姿态控制和姿态测量功能合二为一的新型陀螺,采用洛伦兹力磁轴承(LFMB)控制转子径向偏转。针对MSCSG 2个测量轴之间存在耦合的问题,提出了一种基于逆系统解耦的测量方法。首先,分析了MSCSG的结构组成,在此基础上建立了LFMB-转子系统动力学模型,推导了MSCSG陀螺进行两自由度姿态测量的工作原理;然后,分析了2个测量轴之间的耦合关系,进而提出采用逆系统对2个测量轴进行解耦。最后,对所提方法的有效性进行了仿真验证。仿真结果表明:在所提解耦方法作用下,2个测量轴之间的耦合效果得到了很好的抑制,测量精度得到了一定的提高。

关键词: 磁悬浮控制敏感陀螺(MSCSG), 洛伦兹力磁轴承(LFMB), 姿态测量, 逆系统解耦, 径向偏转

Abstract: Magnetically suspended control and sense gyroscope (MSCSG) is a new type of gyroscope which combines attitude control and attitude measurement functions and uses Lorentz force magnetic bearings (LFMBs) to drive the rotor to tilt. To solve the problem of coupling between two measuring axes of MSCSG, a measurement method based on inverse system decoupling is presented. First, the basic structure of MSCSG composition was analyzed. Then, the LFMB-rotor system dynamics model was established based on the basic structure of MSCSG composition. The principle of MSCSG for two-degree-of-freedom attitude measurement was deduced and the coupling between two measuring axes of MSCSG was analyzed. The inverse system is used to decouple two measuring axes of MSCSG. Finally, the effectiveness of the proposed method is verified by simulation. The simulation results show that the coupling effect between the two measuring axes of MSCSG is restrained well and the measurement accuracy is improved.

Key words: magnetically suspended control and sense gyroscope (MSCSG), Lorentz force magnetic bearing (LFMB), attitude measurement, inverse system decoupling, radial deflection

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