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摘要:
针对磁悬浮控制敏感陀螺（MSCSG）空间应用问题，研究其多自由度角动量包络模型。依据MSCSG的机械结构，分析磁悬浮转子径向万向偏转特性，明晰MSCSG轴向一个自由度转子转速变化飞轮力矩和径向两自由度转子万向偏转陀螺力矩输出机理。基于洛伦兹力磁轴承（LFMB）原理，分析径向偏转力矩与控制电流的线性关系，揭示MSCSG陀螺力矩高精度高带宽的优势。考虑转子径向偏角和轴向转速饱和问题，基于重构偏角和旋转矩阵构建MSCSG角动量包络模型。仿真分析了MSCSG径向偏转力矩高精度高带宽、轴向飞轮力矩高精度的特性。开展MSCSG偏转力矩高带宽性能测试，实验验证MSCSG能够输出大于100 Hz的径向偏转力矩。研究结果表明，MSCSG具有航天器高动态微振动抑制和高精度姿态控制的空间应用前景。
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关键词:
- 磁悬浮控制敏感陀螺(MSCSG) /
- 洛伦兹力磁轴承(LFMB) /
- 角动量包络 /
- 力矩包络 /
- 高精度高带宽
Abstract:Aiming at engineering application problems, the multi-degree-of-freedom angular momentum envelope model of magnetically suspended control and sensing gyroscope (MSCSG) is studied. Based on the mechanical structure of MSCSG, the characteristics of radial universal deflection of magnetic suspension rotor are analyzed. Axial 1-DOF Flywheel torque and radial 2-DOF gyroscope torque output mechanism of MSCSG are clarified. Based on the Lorentz force magnetic bearing (LFMB) principle, the linear relationship between the radial deflection torque and the control current is analyzed, which reveals the advantages of the MSCSG torque with high precision, high bandwidth and small amplitude. Considering rotor speed saturation, the MSCSG angular momentum envelope model is constructed based on deflection reconstruction and rotation matrix. The simulation shows that although radial deflection torque has a high bandwidth, small amplitude, and axial flywheel torque has a high precision and large magnitude. High bandwidth performance test of the MSCSG deflection torque is carried out, showing that MSCSG can output radial deflection torque whose frequency is greater than 100 Hz. It is shown that MSCSG has the prospect of strong micro-vibration suppression under high dynamic conditions and high precision attitude control.
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图 2 MSCSG径向磁轴承和轴向磁轴承结构
Figure 2. MSCSG radial magnetic bearing and axial magnetic bearing structure
图 4 MSCSG角动量变化生成力矩示意图
Figure 4. Schematic diagram of torque generated by MSCSG angular momentum change
图 6 MSCSG角动量交换坐标系相对运动关系示意图
Figure 6. Schematic diagram of relative motion relationship of MSCSG angular momentum exchange coordinate system
图 7 MSCSG转子偏转角映射至偏转经纬度示意图
Figure 7. Schematic diagram of MSCSG rotor deflection angle mapped to deflection latitude and longitude
图 9 转子转速不变情况下单MSCSG角动量包络
Figure 9. Single MSCSG angular momentum envelope under the condition of constant rotor speed on curve
图 13 控制信号为10 Hz时MSCSG带宽性能测试结果
Figure 13. MSCSG bandwidth performance test results when control signal frequency is 10 Hz
图 14 控制信号频率为104.7 Hz时MSCSG带宽性能测试结果
Figure 14. MSCSG bandwidth performance test results when control signal frequency is 104.7 Hz
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