磁悬浮敏感陀螺动力学建模与关键误差源分析

辛朝军; 蔡远文; 任元; 缪存孝; 张立元

doi:10.13700/j.bh.1001-5965.2015.0650

磁悬浮敏感陀螺动力学建模与关键误差源分析

doi: 10.13700/j.bh.1001-5965.2015.0650

1.
装备学院航天装备系, 北京 101416
2. 北京科技大学机械工程学院, 北京 100083

基金项目: 国家自然科学基金（51475472）

详细信息

作者简介:
辛朝军,男,博士研究生,讲师。主要研究方向:先进惯性测量技术。Tel.:18610226728,E-mail:jingninan@126.com;蔡远文,男,博士,教授,博士生导师。主要研究方向:航天发射与测试。Tel.:010-66364191,E-mail:caiyuanwen@263.net;任元男,博士,讲师。主要研究方向:先进惯性测量与控制技术。Tel.:010-66364384,E-mail:renyuan823@aliyun.com

通讯作者:
任元,Tel.:010-66364384,E-mail:renyuan823@aliyun.com

中图分类号: V448.2;TJ761.7
计量
- 文章访问数: 1003
- HTML全文浏览量: 50
- PDF下载量: 685
- 被引次数: 0
出版历程
- 收稿日期: 2015-10-08
- 网络出版日期: 2016-10-20

Dynamic modeling and key error sources analysis of magnetically suspended sensitive gyroscopes

1.
Department of Space Equipment, Equipment Academy, Beijing 101416, China
2. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Funds: National Natural Science Foundation of China (51475472)

摘要

摘要: 基于转子动力学构建了针对一种新型双球形包络面转子磁悬浮敏感陀螺（MSSG）动力学模型，并对陀螺关键误差源进行了理论分析。描述了磁悬浮敏感陀螺的结构特点与角速率测量原理，并分别建立了磁悬浮转子所受电磁力与电磁力矩数学模型，分析了转子微小平移与偏转对转子力学状态的影响机理，利用ANSYS软件得出的有限元仿真结果与模型计算结果基本吻合。在此基础上，从理论上对转子非球形误差和洛伦兹力磁轴承误差2种主要误差源进行了初步分析，给出了干扰力矩解析表达式。计算表明：转子非球形和洛伦兹力磁轴承中磁场分布不均是导致测量误差产生的主要因素。模型的构建可为磁悬浮敏感陀螺的优化设计与分析提供有效理论依据。
- 磁悬浮敏感陀螺(MSSG) /
- 双球形包络面 /
- 洛伦兹力 /
- 非球形误差 /
- 误差源分析
Abstract: The mathematical model of a new magnetically suspended sensitive gyroscope (MSSG) with rotor of double spherical envelope surfaces is established based on rotor dynamics, and the key error sources of the gyro in sensing angular rate are analyzed theoretically. First, structural features and sensing principles of the MSSG are described. Second, the theoretical models of electromagnetic forces and moments acting on the rotor are built respectively. The influencing mechanisms of rotor translation and titling on its mechanical state are analyzed. Simulation results by finite-element method software ANSYS are basically in agreement with the calculated results. Finally, two key error sources of rotor asphericity and Lorentz force magnetic bearing process errors are analyzed, and the analytical expression of the disturbing torques has been constructed. Calculation results show that the rotor aspheric factors and the inhomogeneous magnetic field in Lorentz force magnetic bearing are the major factors inducing disturbance torques. The model provides a valuable theoretical basis for further research on optimization design and analysis of the MSSG.
- magnetically suspended sensitive gyroscope (MSSG) /
- double spherical envelope surfaces /
- Lorentz force /
- aspheric error /
- error sources analysis

HTML全文

参考文献(19)

[1]	FANG J C,ZHENG S Q,HANG B C.AMB vibration control for structural resonance of double-gimbal control moment gyro with high-speed magnetically suspended rotor[J].IEEE/ASME Transactions on Mechatronics,2013,18(1):32-43.
[2]	REN Y,FANG J C.Current-sensing resistor design to include current derivative in PWM H-bridge unipolar switching power amplifiers for magnetic bearings[J].IEEE Transactions on Industrial Electronics,2012,59(12):4590-4600.
[3]	REN Y,FANG J C.High-precision and strong-robustness control for an MSCMG based on modal separation and rotation motion decoupling strategy[J].IEEE Transactions on Industrial Electronics,2014,61(3):1539-1551.
[4]	REN Y,FANG J C.Modified cross feedback control for a magnetically suspended flywheel rotor with significant gyroscope effects[J].Mathematical Problems in Engineering,2014,2014:1-11.
[5]	FANG J C,REN Y,FAN Y H.Nutation and precession stability criterion of magnetically suspended rigid rotors with gyroscopic effects based on positive and negative frequency characteristics[J].IEEE Transactions on Industrial Electronics,2014,61(4):2003-2014.
[6]	BOLETIS A,BARROT F,MOSER R.Three axis active magnetic levitation for inertial sensing systems:US7252001B2[P].2007-08-07.
[7]	BOSGIRAUD T.Two degrees of freedom miniaturized gyroscope based on active magnetic bearings[D].Lausanne:Ecole Polytechnique Federale de Lausanne,2008:22-35.
[8]	MARUYAMA Y,MIZUNO T,TAKASAKI M,et al.An application of active magnetic bearing to gyroscopic and inertial sensors[J].Journal of System Design and Dynamics,2008,2(1):155-164.
[9]	MARUYAMA Y,MIZUNO T,TAKASAKI M,et al.Extension of measurement bandwidth in an AMB-based gyroscopic sensor[J].Mechatronics,2009,19(8):1261-1268.
[10]	MARUYAMA Y,MIZUNO T,TAKASAKI M,et al.Proposal of a new configuration for magnetically suspended gyro[C]//35th Annual Conference of IEEE Industrial Electronics.Piscataway,NJ:IEEE Press,2009:1911-1916.
[11]	房建成,刘彬,王志强,等.一种磁悬浮陀螺飞轮:CN 200910241243.3[P].2012-07-25.FANG J C,LIU B,WANG Z Q,et al.A magnetically suspended gyrowheel:CN200910241243.3[P].2012-07-25(in Chinese).
[12]	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 gyrowheel and analysis of key technologies[J].Acta Aeronautica et Astronautica Sinica,2011,32(8):1478-1487(in Chinese).
[13]	FANG J C,ZHEN S Q,HAN B C.Attitude sensing and dynamic decoupling based on active magnetic bearing of MSDGCMG[J].IEEE Transactions on Instrument and Measurement,2012,61(2):338-348.
[14]	ZHEN S Q,HAN B C.Investigations of an integrated angular velocity measurement and attitude control system for spacecraft using magnetically suspended double-gimbal CMGs[J].Advances in Space Research,2013,51(12):2216-2228.
[15]	房建成,孙津济,樊亚洪.磁悬浮惯性动量轮技术[M].北京:国防工业出版社,2012:112-115.FANG J C,SUN J J,FAN Y H.Magnetically suspended inertial momentum wheel technology[M].Beijing:National Defense Industry Press,2012:112-115(in Chinese).
[16]	HU X N,WANG Q,CUI C Y,et al.Torque compensation system design for a spherical superconducting rotor[J].IEEE Transactions on Instrument and Measurement,2014,63(12):2789-2794.
[17]	HE C,WANG Q.Force characteristics analysis on a superconducting sphere suspended by spherical coils[J].Cryogenics,2007,47(7-8):413-417.
[18]	LIU J H,WANG Q,LI X.Modeling of the superconducting suspension system with shaping blocks[J].IEEE Transactions on Applied Superconductivity,2010,20(1):47-51.
[19]	崔春艳,胡新宁,程军胜,等.超导磁悬浮支承系统干扰力矩及漂移误差分析[J].物理学报,2015,64(1):379-389.CUI C Y,HU X N,CHENG J S,et al.Analysis of magnetic disturbance torque and drift error in a superconducting suspension system[J].Acta Physica Sinica,2015,64(1):379-389(in Chinese).