Principle analysis and modeling of rotor imbalance vibration in magnetically suspended control and sensing gyroscope
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摘要:
磁悬浮控制敏感陀螺（MSCSG）是一种新概念陀螺，采用洛伦兹力磁轴承为力矩器驱动转子径向偏转。针对MSCSG转子旋转过程中产生不平衡振动的问题，分析了不平衡振动产生原理，并建立了解析模型。首先，分析了MSCSG的工作原理。然后，确定了转子不平衡条件下转子几何轴与惯性轴间的几何解析关系；推导了转子不平衡振动力矩数学模型，并对不平衡扰动量的能观性进行了判定；建立了包含振动源的磁轴承-转子控制系统模型，对闭环系统的不平衡振动产生机理进行了分析，并对不同转速下不平衡振动的响应特性进行仿真，仿真结果验证了所提出模型的正确性。最后，根据转子不平衡振动的特点提出了对其进行抑制的要求，为实现MSCSG转子不平衡振动控制奠定了理论基础。
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关键词:
- 磁悬浮控制敏感陀螺(MSCSG) /
- 洛伦兹力磁轴承 /
- 转子不平衡 /
- 能观性 /
- 振动建模
Abstract:Magnetically suspended control and sensing gyroscope (MSCSG) is a kind of new-concept gyro, which takes Lorentz force magnetic bearing as torquer to drive the rotor to tilt in radial direction. As there is dynamic unbalance in the magnetically suspended rotor system because of the uneven mass distribution, the generation principle of imbalance vibration is analyzed and the analytic model of it is established. First, the working principle of MSCSG is introduced. Then, the geometric analytic relation between geometric and inertial axis of rotor is determined on condition that rotor is unbalanced; the mathematic model of unba-lance vibration torque is established and the observability of imbalance disturbance is demonstrated. The model of bearing-rotor control system containing vibration source is constructed and the vibration generation mechanism in closed-loop system is analyzed. The dynamic response characteristics of unbalance vibration with different rotate speeds are simulated and the simulation result indicates the correctness of the proposed model. Finally, the requirement for suppression of unbalance vibration is put forward according to its vibration characteristics, which lays the theoretical foundation for realizing MSCSG rotor imbalance vibration control.
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图 3 传感器探头配置及检测面示意图
Figure 3. Schematic diagram of sensor probe configuration and detection surface
图 5 转子惯性轴与几何轴位置关系
Figure 5. Position relation between inertial axis and geometric axis of rotor
图 6 转子不平衡条件下MSCSG转子偏转控制系统闭环结构
Figure 6. Closed-loop structure of rotor tilt control system in MSCSG considering rotor imbalance
表 1 MSCSG系统参数
Table 1. Parameters of MSCSG system
参数 数值 Jz/(kg·m2) 0.016 6 Jy/(kg·m2) 0.009 7 ki 0.001 ωD 240 kh 0.001 5 n 200 l/m 0.115 8 a2l 2 200 000 a2h 92 100 ls/m 0.078 ka/(V·A-1) 0.22 ωf/Hz 310 Jx/(kg·m2) 0.009 7 kp 15.1 kd 3.2 kl 0.001 5 B/T 0.4 lm/m 0.059 a1l 2 400 a1h 370 ks/(V·m-1) 10 300 δ/(°) 0.009 ωa/Hz 240 φ/(°) 10 
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