磁悬浮控制力矩陀螺用新型大力矩低功耗三自由度磁轴承关键技术研究

磁悬浮控制力矩陀螺(MSCMG)是高分辨率对地观测卫星实现快速机动的关键执行机构。传统五自由度MSCMG采用两个具有一定跨距的径向磁轴承通过径向力实现陀螺力矩输出，针对其存在轴向跨距短且电流大导致输出力矩小且功耗大的问题，提出一种新型大力矩低功耗三自由度磁轴承结构及其参数设计方法，该结构由永磁体以及沿圆周方向上相互正交的一对外环磁极和一对内环磁极组成，并在内外环磁极以及永磁体之间设计第二气隙，通过控制内外环磁极线圈中的电流大小和方向形成不同的磁路，实现对陀螺转子的轴向平动以及径向偏转共三个自由度的控制，同时利用MSCMG大惯量扁平转子具有的径向大跨距特征，通过轴向力实现大陀螺力矩输出；在此基础上，提出一种基于转子偏转的磁轴承低功耗控制方法，降低了陀螺力矩输出时的功耗，研制单框架五自由度MSCMG实验样机，进行结构和控制方法的实验验证，为拓展三自由度磁轴承在新型惯性执行机构中的应用奠定基础。

Magnetically suspended control moment gyroscope (MSCMG) is a key actuator for fast maneuvering of high resolution earth observation satellites. The gyroscopic moment output is realized by radial force, which is produced by two radial magnetic bearings with a certain span in the traditional MSCMG with five degrees of freedom (5DOFs). Aiming at the problem that the axial span is short and the current is large, resulting in small output moment and large power loss, a novel three degrees of freedom (3DOFs) magnetic bearing structure with high gyroscopic moment and low power loss and its parameter design method are proposed. The structure is composed of permanent magnet, a pair of outer ring poles and a pair of inner ring poles, which are designed orthogonal to each other along the circumference. The subsidiary air gap is designed among the inner and outer ring poles and the permanent magnet. The different magnetic circuits are formed by controlling the magnitude and direction of the current in the inner and outer ring pole coils. Therefore, the axial translation and radial tilting movement of the gyro rotor can be realized in the proposed magnetic bearing with 3DOFs. According to the radial large span characteristics of MSCMG with the large inertia flat rotor, the large gyroscopic moment output can be realized by axial force. On this basis, a control method of the proposed magnetic bearing with 3DOFs based on rotor tilting is proposed to reduce the power loss of gyroscopic moment output. A single gimbal MSCMG experimental prototype with 5DOFs is developed, and the structure and control method are verified by experiments, which lays a foundation for expanding the application of the proposed 3DOFs magnetic bearing in new inertial actuator.