磁悬浮控制力矩陀螺磁轴承的变工作点线性化自适应控制方法被引量：21

ADAPTIVE CONTROL BASED ON VARIANT OPERATING-POINT LINEARIZATION IN MAGNETIC BEARINGS OF MSCMG

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摘要为提高磁悬浮控制力矩陀螺框架高速时的磁悬浮转子系统稳定性,研究磁轴承的电磁力—线圈电流/转子位移非线性的线性化及其控制方法。分析框架转动时的磁轴承工作点变化规律,提出磁轴承力—电流/位移特性基于框架转速的变工作点大范围线性化方法,根据线性化得到的线性变参数模型设计增益调节与前馈控制相结合的控制律,按照框架转速的大小对磁轴承位移刚度的变化进行自适应补偿,在磁悬浮转子稳定前提下使框架转速由6.25(°)/s提高到9.5(°)/s。该方法能有效补偿框架运动时的磁轴承力非线性,大幅提高框架转速较高时的磁悬浮转子系统稳定性。 To improve stability of magnetically suspended rotor system in magnetically suspended control moment gyroscope （MSCMG） at high gimbal rotation speed, linearization of nonlinear force-current-displacement characteristic and relevant control algorithm of magnetic bearing （MB） are investigated. Operating point variation of MB with gimbal rotation is analyzed, and a novel method of variant operating-point linearization referring to gimbal speed is proposed. Linear parameter varying model of MB is achieved and adaptive control algorithm incorporating gain-scheduled and feedforward corresponding to gimbal speed is designed to compensate displacement stiffness rising due to gimbal running and current asscending, which increases gimbal speed from 6.25 （°）/s to 9.5 （°）/s under condition of stable MB-rotor system according to experimental results. It can be concluded that the proposed method can compensate MB force nonlinearity and improve MB-rotor system stability significantly at high gimbal speed.

作者魏彤房建成

机构地区北京航空航天大学仪器科学与光电工程学院

出处《机械工程学报》 EI CAS CSCD 北大核心 2007年第6期110-115,共6页 Journal of Mechanical Engineering

基金国家高技术研究发展计划(863计划 2003AA741022)

关键词控制力矩陀螺磁轴承动框架效应非线性线性化增益调节 Control moment gyroscope Magnetic bearing Moving-gimbal effects Nonlinearity Linearization Gain-scheduled

分类号 TP273.2 [自动化与计算机技术—检测技术与自动化装置] V448.22 [航空宇航科学与技术—飞行器设计]

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