基于α阶逆系统的两自由度主被动磁悬浮转子解耦控制  

Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based onα-order inverse system

作　　者：崔培玲[1,2] 潘智平[1,2] 李海涛[1,2] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191 [2]北京航空航天大学惯性技术国家级重点实验室,北京100191

出　　处：《光学精密工程》2014年第10期2747-2756,共10页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.61203112);国家民用航天预研资金资助项目

摘　　要：针对主被动磁悬浮控制力矩陀螺(CMG)磁轴承两径向平动自由度之间存在较强耦合的问题,提出采用α阶逆系统方法对主被动磁轴承系统进行解耦控制。首先,根据主被动磁轴承的结构特点,建立了主被动磁悬浮转子径向通道平动力模型以及动力学模型;利用上述模型分析了两径向自由度之间的耦合特性,并对系统进行可逆性分析,得到了原磁轴承系统的α阶逆系统模型。然后,将原系统与α阶逆系统组合得到二阶积分线性系统,利用最优控制器实现闭环控制。最后,对本文方法进行了仿真及实验。结果表明,当x向有40μm位移阶跃和18μm幅值的正弦干扰时,利用本文方法可将y向位移跳动控制在PID控制方法的13.6%和17.9%,实现了主被动磁悬浮转子两径向平动通道之间的解耦控制。As the Control Moment grees of freedom pling control. A Passive and Active Hybrid Magnetic Bearing （PAHMB） in a Magnetic Suspended Gyroscope （MSCMG） has the dynamic model coupling between the two radial de- （DOF）, this paper proposes an α-order inverse system method to perform the decou- radial channel magnetic force model and a dynamic model for the PAHMB magneticbearing were established based on the structure characteristics of the hybrid magnetic bear. Then,the model was used to analyze the coupling characteristic between the two radial degrees of freedom. In order to obtain the inverse system model of the PAHMB system, the reversibility of the original sys-tem was analyzed. The optimal controller was designed to stabilize the new 2-order integral system by consisting of the original system and the inverse system. Experimental results show that when the x-axis is influenced by 40 μm stepping and 18μm sine wave, the y-axis displacement with decoupling method will be controlled 13.6% and 7.9% that with PID method. These results demonstrate the ef- fectiveness of the method above in decoupling control of the PAHMB.

关 键 词：主被动磁悬浮转子 磁悬浮控制力矩陀螺 逆系统 解耦控制 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置] V448[自动化与计算机技术—控制科学与工程]