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磁悬浮控制敏感陀螺转子前馈解耦内模控制

夏长峰 蔡远文 任元 武登云 王英广

夏长峰, 蔡远文, 任元, 等 . 磁悬浮控制敏感陀螺转子前馈解耦内模控制[J]. 北京航空航天大学学报, 2018, 44(3): 480-488. doi: 10.13700/j.bh.1001-5965.2017.0190
引用本文: 夏长峰, 蔡远文, 任元, 等 . 磁悬浮控制敏感陀螺转子前馈解耦内模控制[J]. 北京航空航天大学学报, 2018, 44(3): 480-488. doi: 10.13700/j.bh.1001-5965.2017.0190
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)
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)

磁悬浮控制敏感陀螺转子前馈解耦内模控制

doi: 10.13700/j.bh.1001-5965.2017.0190
基金项目: 

国家自然科学基金 51475472

国家自然科学基金 61403396

国家自然科学基金 51605489

详细信息
    作者简介:

    夏长峰  男,博士研究生。主要研究方向:磁悬浮控制敏感陀螺的测量与控制

    蔡远文  男,博士,教授。主要研究方向:航天器测试与发射

    任元  男,博士,副教授。主要研究方向:导航、制导与控制

    通讯作者:

    任元, E-mail: renyuan_823@aliyun.com

  • 中图分类号: V448.2

Feedforward decoupling and internal model control for rotor of magnetically suspended control and sensing gyroscope

Funds: 

National Natural Science Foundation of China 51475472

National Natural Science Foundation of China 61403396

National Natural Science Foundation of China 51605489

More Information
  • 摘要:

    磁悬浮控制敏感陀螺以洛伦兹力磁轴承(LFMB)为力矩器驱动转子偏转。针对磁悬浮控制敏感陀螺转子径向转动自由度间存在耦合的问题以及转子偏转高精度快响应要求,提出一种前馈解耦内模控制方法。根据洛伦兹力磁轴承的工作原理建立了转子偏转动力学模型,并设计了前馈解耦矩阵实现转子径向偏转解耦,在此基础上,采用二自由度内模控制器(2-DOF IMC)对转子进行高精度快响应偏转控制。MATLAB仿真结果表明所提出的控制方法可有效实现对陀螺转子偏转的完全解耦,且转子偏转响应时间较交叉PID算法减少57.1%,受0.1sin(2πt)°正弦信号扰动影响产生的偏转波动幅值较交叉PID算法减少76%。

     

  • 图 1  MSCSG结构示意图

    Figure 1.  Structure diagram of MSCSG

    图 2  转子偏转系统结构示意图

    Figure 2.  Structure diagram of rotor tilting system

    图 3  前馈解耦系统结构

    Figure 3.  Structure of feedforward decoupling system

    图 4  二自由度内模控制器结构

    Figure 4.  Structure of 2-DOF IMC

    图 5  简化的二自由度内模控制器结构

    Figure 5.  Simplified structure of 2-DOF IMC

    图 6  灵敏度函数与补灵敏度函数Bode图

    Figure 6.  Bode diagrams of sensitivity function and penalty sensitivity function

    图 7  解耦效果仿真对比

    Figure 7.  Comparison of decoupling simulation results

    图 8  偏转响应曲线对比

    Figure 8.  Comparison of tilting response curves

    图 9  抗扰性能对比

    Figure 9.  Comparison of disturbance rejection performance

    表  1  转子偏转系统参数

    Table  1.   Parameters of rotor tilting system

    参数 数值
    Jz/ (kg·m2) 0.016 6
    Ω/Hz 100
    λ2 0.003
    Kp 15
    Kd 3
    n 200
    L/m 0.115 8
    kL 0.5
    kH 0.2
    lr/m 0.078
    Jr/ (kg·m2) 0.009 7
    λ1 0.08
    τ/s 0.002
    Ki 0.001
    B/T 0.4
    lm/m 0.059
    ωL/Hz 80
    ωH/Hz 400
    kr 0.05
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-03-30
  • 录用日期:  2017-06-09
  • 刊出日期:  2018-03-20

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