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摘要:
磁悬浮控制力矩陀螺（MSCMG）转子的稳定悬浮是实现陀螺高精度大力矩输出的关键。针对影响转子稳定悬浮的转子径向偏转耦合、非线性参数摄动、动框架效应问题，建立转子的动力学模型，提出了一种基于反馈线性化的增强型内模控制方法。利用反馈线性化方法实现径向偏转运动解耦以及转子动力学模型的线性化，设计增强型内模控制对转子系统的非线性参数摄动进行补偿并有效抑制动框架效应，提升了转子系统的稳定性。MATLAB仿真结果表明：所提出的控制方法实现了转子偏转的完全解耦，与PID控制相比，所提方法可以有效抑制参数摄动对转子径向平动的影响。对于转子径向偏转，与PID交叉控制相比，所提方法可以有效抑制框架扰动，提高系统控制精度。
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关键词:
- 磁悬浮控制力矩陀螺(MSCMG) /
- 反馈线性化 /
- 增强型内模控制 /
- 动框架效应 /
- 非线性参数摄动
Abstract:The stable suspension of the Magnetically Suspended Control Moment Gyro (MSCMG) rotor is the key to achieve high-precise and large-moment output for gyro. Aimed at the problems of the rotor radial tilt coupling, nonlinear parameter perturbation and moving-gimbal effects that affect the rotor stable suspension, the rotor dynamics model is established and an enhanced internal model control method based on feedback linearization is proposed. The feedback linearization method is used to decouple the radial tilt motion and linearize the rotor dynamics model. The enhanced internal model control is designed to compensate the nonlinear parameter perturbation, suppress moving-gimbal effects and improve stability of the rotor system. MATLAB simulation results show that the proposed control method can decouple rotor tilt motion completely. Compared with the PID control, the proposed method can effectively suppress the influence of parameter perturbation on rotor radial translation. For rotor radial tilt, the proposed method can effectively suppress moving-gimbal effects and improve system control precision compared with PID cross control.
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图 3 电流刚度与位移刚度变化曲线
Figure 3. Curves of current stiffness and displacement stiffness variations
图 7 径向平动抗扰性能对比
Figure 7. Disturbance suppression performance comparison of radial translation motion
图 9 正弦扰动抗扰性能对比
Figure 9. Disturbance suppression performance comparison of sinusoidal disturbance
图 10 阶跃扰动抗扰性能对比
Figure 10. Disturbance suppression performance comparison of step disturbance
表 1 SGMSCMG设计参数
Table 1. Design parameters of SGMSCMG
参数 数值 转子径向转动惯量Jrr/(kg·m2) 0.082 86 转子轴向转动惯量Jrz/(kg·m2) 0.130 2 框架最大角速度 
0.25 框架最大角加速度 
14.137 从磁悬浮转子中心到径向磁轴承中心的距离lm/m 0.072 5 转子的额定转速Ω/(r·min-1) 15 000 磁中心处零电流时电流刚度ki/(N·A-1) 600 零电流时平衡位置处位移刚度kh/(N·μm-1) 2.4 转子质量m/kg 16.7 
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表 2 控制系统仿真参数
Table 2. Simulation parameters of control system
参数 数值 增强型内模控制补偿系数K 100 增强型内模控制滤波器调节参数λ 0.001 PID控制器中比例系数Kp 100 PID控制器中微分系数Kd 12 PID控制器中积分系数Ki 150 交叉环节高通滤波器截止频率ωH/Hz 400 交叉环节低通滤波器截止频率ωL/Hz 80
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