基于逆系统解耦的MSCSG姿态测量方法

于春淼; 汪洲; 任元; 王卫杰; 樊亚洪

doi:10.13700/j.bh.1001-5965.2019.0132

基于逆系统解耦的MSCSG姿态测量方法

doi: 10.13700/j.bh.1001-5965.2019.0132

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

基金项目:

国家自然科学基金 51475472

国家自然科学基金 51605489

北京市“高创计划”青年拔尖人才项目 2017000026833ZK23

详细信息

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

通讯作者:
任元, E-mail:renyuan_823@aliyun.cn

中图分类号: V448.2
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出版历程
- 收稿日期: 2019-03-27
- 录用日期: 2019-07-12
- 网络出版日期: 2020-01-20

MSCSG attitude measurement method based on inverse system decoupling

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

Funds:

National Natural Science Foundation of China 51475472

National Natural Science Foundation of China 51605489

Beijing Youth Top-Notch Talent Support Program 2017000026833ZK23

More Information

Corresponding author: REN Yuan, E-mail:renyuan_823@aliyun.cn

摘要

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。
- 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.
- magnetically suspended control and sense gyroscope (MSCSG) /
- Lorentz force magnetic bearing (LFMB) /
- attitude measurement /
- inverse system decoupling /
- radial deflection

HTML全文

图 1 MSCSG陀螺房结构示意图

Figure 1. Schematic diagram of MSCSG gyro room structure

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图 2 LFMB结构原理

Figure 2. LFMB structure principle

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图 3 MSCSG转子结构示意图

Figure 3. Schematic diagram of MSCSG rotor structure

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图 4 姿态测量系统原理框图

Figure 4. Principle block diagram of attitude measurement system

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图 5 采用逆系统解耦的MSCSG原理示意图

Figure 5. Schematic diagram of MSCSG principle with inverse system decoupling

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图 6 两种方法在输入频率为10 Hz和20 Hz时的测量误差比较曲线

Figure 6. Comparison curves of measurement errors between two methods at input frequency of 10 Hz and 20 Hz

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图 7 两种方法在输入频率为10 Hz和20 Hz时的测量耦合比较曲线

Figure 7. Comparison curves of measurement coupling between two methods at input frequency of 10 Hz and 20 Hz

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表 1 MSCSG系统仿真参数

Table 1. MSCSG system simulation parameters

参数	数值
N/匝	100
L/mm	80
J_z/(kg·m²)	0.017 8
J_r/(kg·m²)	0.006 2
Ω/Hz	83.3
I/A	0.5
l_m/mm	59
l_s/mm	78.7

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