| Citation: | XIA Changfeng, CAI Yuanwen, REN Yuan, et al. Feedforward decoupling and internal model control for rotor of magnetically suspended control and sensing gyroscope[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 480-488. doi: 10.13700/j.bh.1001-5965.2017.0190(in Chinese)
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Magnetically suspended control and sensing gyroscope takes Lorentz force magnetic bearing (LFMB) as torquer to drive the rotor to tilt. As there is coupling between the two radial rotation degrees of freedom and it requires that rotor tilts with high precision and fast response, feedforward decoupling and internal model controller is proposed. Dynamic model for rotor tilting is established based on basic structure of LFMB. Feedforward decoupling matrix is designed to perform tilting decoupling in radial direction, and then on this basis, two-degree-of-freedom internal model controller (2-DOF IMC) is adopted to perform rotor tilting control with high precision and fast response. Simulation results by MATLAB indicate that the proposed method can realize full decoupling for rotor tilting, response time is reduced by 57.1% than that of cross PID controller, and tilting fluctuation amplitude produced by 0.1sin(2π
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