两自由度框架大惯量磁悬浮转子系统的高精度解耦控制方法及实验研究

The double gimbal magnetically suspended control moment gyro (DGMSCMG) is a kind of a novel attitude control actuator, which is developed with the urgent need of high-resolution earth observation projects, large satellite platforms, spacestation and other high-precision satellites. The high-speed magnetically suspended rotor system in the DGMSCMG has the characteristics of the multivariable, nonlinear, strong gyroscopic effect, and strong coupling of multi-body dynamics with the inner & outer gimbals. Therefore highly stable and high-precision control of the magnetically suspended high-speed rotor system are the key and difficult points. . This project addresses the problems of multi-body dynamic characteristics and decoupling control in DGMSCMG, the innovative works are summarized as follows: (1) the multi-body dynamic model development and coupling problem analysis of the double gimbal magnetically suspended rotor system with large inertia will be given; (2) the nonlinearity, multivariable and coupling problems for the magnetically suspended high-speed rotor system will be analyzed and Identified; (3) the decoupling control precision affected by the residual coupling, nonlinearity, and parameter asymmetry will be compensated, and the online observation and high-precision decoupling method disturbed by the double gimbal angular velocity, angular acceleration, and gyroscopic couple torque will be researched. The decoupling method based on the disturbance state observer and filter cross feedback compensation will be used in high precision decoupling control for multivariable and multi-body dynamics problems; (4) finally, the semi physical simulation experiment platform based on a DGMSCMG and an air-floating platform will be designed and fabricated, and the effectiveness of decoupling method will be demonstrated by experimental results. . The objectives of this project are to build the high-precision decoupling control strategies of the high-speed magnetically suspended rotor system with strong gyroscopic effect and multi-body dynamics problem. The prototype of DGMSCMG is built to validate the high-precision decoupling control strategies. The research contents involved in this project are the key scientific issues which need to be resolved in DGMSCMG and other magnetic levitation systems, and have important value in scientific research and engineering applications.

本项目围绕我国高分辨率卫星等航天器对新型大力矩、高精度姿态控制执行机构——磁悬浮控制力矩陀螺的亟需，针对两自度框架伺服系统运动导致的高速大惯量磁悬浮转子系统的厞线性多体动力学耦合问题进行研究，内容包括：（1）两自由度框架作用下的强陀螺效应高速磁悬浮转子系统非线性多体动力学建模及耦合机理分析；（2）强陀螺效应磁悬浮高速转子系统的非线性、多变量系统耦合模型参数辨识；（3）针对未建模动态导致的残余耦合、残余非线性和参数不对称影响系统解耦精度的问题进行补偿，突破在线观测与高精度解耦控制技术，综合考虑两自由度框架角速度、角加速度及陀螺力矩等扰动因素，重点研究基于扰动观测器和滤波交叉反馈补偿的多变量、多体动力学的动态高精度解耦控制方法；（4）最后，为模拟卫星姿态控制过程，研制面向空间应用的半物理仿真平台，模拟卫星机动和两自由度框架伺服系统运动条件，验证强陀螺效应磁悬浮高速转子系统的高精度解耦控制方法。

本项目围绕我国高分辨率卫星等航天器对新型大力矩、高精度姿态控制执行机构——磁悬浮控制力矩陀螺的亟需，针对两自度框架伺服系统运动导致的高速大惯量磁悬浮转子系统的非线性多体动力学耦合问题进行研究，内容包括：（1）两自由度框架作用下的强陀螺效应高速磁悬浮转子系统非线性多体动力学建模及耦合机理分析；（2）强陀螺效应磁悬浮高速转子系统的非线性、多变量系统耦合模型参数辨识；（3）针对未建模动态导致的残余耦合、残余非线性和参数不对称影响系统解耦精度的问题进行补偿，突破在线观测与高精度解耦控制技术，综合考虑两自由度框架角速度、角加速度及陀螺力矩等扰动因素，重点研究基于扰动观测器和滤波交叉反馈补偿的多变量、多体动力学的动态高精度解耦控制方法；（4）最后，为模拟卫星姿态控制过程，研制面向空间应用的半物理仿真平台，模拟卫星机动和两自由度框架伺服系统运动条件，验证强陀螺效应磁悬浮高速转子系统的高精度解耦控制方法。.本项目依照任务书成功完成了以下研究成果。（1）完成了基于强陀螺效应混合磁轴承高速转子系统控制和参数辨识方法；（2）完成了两自由度框架磁悬浮转子系统多体动力学高精度解耦控制方法；（3）搭建了一套两自由度框架磁悬浮高速转子系统综合实验验证平台；（4）以第一作者和通讯作者完成发表SCI论文19 篇；（5）已申请国家发明专利5 项；（6）完成培养博士生3名，硕士生4 名。.本项目成功攻克了磁悬浮控制力矩陀螺中高速大惯量磁悬浮转子系统的非线性多体动力学耦合问题关键技术，填补了国内在该项领域的技术空白，为同类产品的产品和应用提供了技术基础。

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