Composite control method for gimbal excitation effect suppression of magnetically suspended CMGs
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摘要:
针对磁悬浮控制力矩陀螺（MSCMG）动框架效应导致转子悬浮精度和稳定性降低的问题，提出一种角加速率自适应前馈控制与自抗扰控制（ADRC）相结合的复合控制方法。建立了MSCMG转子动力学模型，分析了框架转动情况下的磁轴承扰动力矩，设计了角加速率自适应算法和线性扩张状态观测器，并结合状态反馈控制设计了复合控制器，同时对磁轴承控制系统进行了稳定性分析，仿真结果验证了所提复合控制方法的有效性。利用研制的样机搭建实验平台进行验证，结果表明：所提方法与传统PID控制方法相比，磁悬浮转子收敛后的位移峰峰值降低了39.6%，提高了磁悬浮系统的抗干扰能力。
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关键词:
- 磁悬浮控制力矩陀螺(MSCMG) /
- 自适应前馈 /
- 自抗扰(ADRC) /
- 磁轴承 /
- 动框架效应
Abstract:Aimed at the problem that the rotor suspension precision and stability will be reduced due to the gimbal excitation effect of the Magnetically Suspended Control Moment Gyroscope (MSCMG), a composite control method combining angular acceleration rate adaptive feedforward control and Active Disturbance Rejection Control (ADRC) is proposed in this paper. The dynamic model of MSCMG rotor is established, the disturbance torque of magnetic bearing under frame rotation is analyzed, an angular acceleration rate adaptive algorithm and a linear expansion state observer are designed, and a composite controller is designed with state feedback control. Meanwhile, the stability of the magnetic bearing system is analyzed. The simulation results of the magnetic bearing system verify the effectiveness of the proposed composite control method. The prototype developed in the laboratory was used to build a test platform for verification, and the results show that this method could effectively improve the anti-interference ability of the maglev system. The test platform is built by the developed prototype for verification. The results show that, compared with the traditional PID control method, the displacement peak of the convergent magnetic suspension rotor is reduced by 39.6%, and the anti-interference ability of the magnetic suspension system is improved.
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图 3 MSCMG磁轴承复合控制方法原理框图
Figure 3. Principle block diagram for magnetic bearing composite control method of MSCMG
图 5 角加速率自适应前馈控制框图
Figure 5. Block diagram of adaptive feedforward control module with angular acceleration rate
图 6 复合控制下磁轴承系统根轨迹图
Figure 6. Root locus of magnetic bearing system with composite control method
图 7 角加速率自适应算法权值波形
Figure 7. Weight value waveform of adaptive angular acceleration rate algorithm
图 12 复合控制下的转子位移波形
Figure 12. Rotor displacement waveform with composite control method
表 1 MSCMG模型参数
Table 1. Model parameters of MSCMG
参数 数值 转子质量m/kg 16.7 转子赤道转动惯量Jr/(kg·m2) 0.8286 转子极转动惯量Jz/(kg·m2) 0.1302 磁轴承中心到转子质心距离lm/m 0.0725 传感器到转子质心距离ls/m 0.1110 电流刚度ki/(N·A-1) 600 位移刚度kh/(N·m-1) 2.4×106 
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表 2 磁轴承转子控制参数
Table 2. Control parameters of magnetic bearing rotor
参数 数值 比例系数Kp 3.7578 积分系数Ki 261.2088 微分系数Kd 0.0081 控制器带宽ωc 220 观测器带宽ωo 4000 收敛因子μ 5×10-4
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