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A Method of Decoupling and Disturbance Suppression of Magnetic Suspension Controlled Torque Gyro Rotor System

A technology for controlling torque gyroscopes and magnetic levitation rotors, which is applied in the field of aerospace control, can solve the problem that the radial four-channel high-precision decoupling and strong robust control of magnetic levitation rotors cannot be realized at the same time, and achieves the effect of strong robustness.

Active Publication Date: 2019-05-07
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV +1
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Problems solved by technology

[0004] The technical problem of the present invention is: Aiming at the problem that the existing method cannot simultaneously realize the high-precision decoupling and strong robust control of the radial four-channel magnetic levitation rotor, a decoupling of the magnetic levitation CMG rotor system based on the active disturbance rejection controller is proposed and disturbance suppression method

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  • A Method of Decoupling and Disturbance Suppression of Magnetic Suspension Controlled Torque Gyro Rotor System
  • A Method of Decoupling and Disturbance Suppression of Magnetic Suspension Controlled Torque Gyro Rotor System
  • A Method of Decoupling and Disturbance Suppression of Magnetic Suspension Controlled Torque Gyro Rotor System

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[0036] specific implementation plan

[0037] Such as figure 1 As shown, in the specific implementation process, the specific implementation steps of the present invention are as follows:

[0038] 1. Assume that the magnetic levitation CMG base and each component are rigid bodies. Initially, the rotation axis of the frame coincides with the inertial axis of the rigid body. The magnetic levitation rotor is an axisymmetric rigid body, and its rotation axis coincides with the polar axis. Gravity is ignored and the magnetic levitation rotor The parameters of the radial four-channel are completely symmetrical, that is, the geometric center coincides with the center of mass, and the geometric principal axis coincides with the inertial principal axis. When the angular rate of the frame is zero, the dynamic model of the maglev rotor in the generalized coordinate system of the rotor position can be described as:

[0039]

[0040] And magnetic bearing coordinate system [h ax h bx ...

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Abstract

The invention relates to a decoupling and disturbance-attenuation method for a rotor system of a magnetic suspension control moment gyroscope (CMG). The decoupling and disturbance-attenuation method includes the steps that a kinetic equation of the rotor system of the magnetic suspension CMG in a magnetic bearing coordinate system is built according to the Newton second law and a gyroscope technical equation, a radial four-way decoupling model is obtained based on the active-disturbance-rejection decoupling control principle, then active-disturbance-rejection controllers of channels are designed, and therefore radial four-way decoupling and disturbance attenuation of the rotor system are achieved. Compared with traditional disperse PID and intersection feedback decoupling control, the decoupling and disturbance-attenuation method has the advantages that the decoupling control accuracy is improved, and the robustness of the system for external disturbance and parameter changes is improved. The decoupling and disturbance-attenuation method belongs to the technical field of spaceflight control and can be applied to high-accuracy and high-robustness control over the magnetic suspension CMG.

Description

technical field [0001] The invention relates to a magnetic suspension control moment gyroscope (Control Moment Gyroscope-CMG) rotor system decoupling and disturbance suppression method, which is suitable for high-precision and strong robust control of the magnetic suspension CMG, and belongs to the technical field of aerospace control. Background technique [0002] Magnetic levitation CMG has become an important development direction of spacecraft attitude control actuators such as space stations, space maneuvering platforms and agile maneuvering satellites because of its outstanding advantages such as no friction, low vibration, easy realization of high precision and long life. Since the accuracy of the magnetic levitation CMG rotor system directly affects the accuracy of the entire CMG output torque, and the multivariable, nonlinear and strong coupling characteristics of the magnetic levitation CMG rotor system bring challenges to its high-precision control, the control of ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 任元王平陈晓岑赵玉龙王卫杰王华王盛军邵琼玲李新洪汪洲
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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