MSCMG磁轴承μ综合控制方法与实验研究

Experimental study on μ synthesis control for magnetic bearings of MSCMG

针对磁悬浮控制力矩陀螺磁轴承控制对象模型各通道的不一致性引起存在的参数摄动和未建模动态等问题,提出了一种基于结构奇异值μ分析的鲁棒控制器设计方法。该方法可直接将参数摄动和未建模动态引入到控制器的设计中,无需将其转化为一类更大范围的不确定性,避免了H∞方法的不必要保守性,还可对系统的鲁棒性能问题进行分析和综合。实验结果表明,与常规PID控制器相比,系统阶跃响应的位置超调量与稳定时间均有较大程度的改善,同时对系统参数的摄动也具有较强的鲁棒性,证明了μ综合法设计控制器的有效性。

Aiming at the parameter perturbation and modeling uncertainties of control object in magnetically suspended control moment gyros,this paper presents a robust controller design for active magnetic bearing using μ synthesis method.Model uncertainties of the electronic system,such as the filters,amplifiers and sensors,are considered.The analytical models of magnetic bearing-rotor are developed and refined through comparing with the experiment data.In order to reduce the conservativeness of H∞ method,the robust performance design is transformed into the robust stabilization problem of an augment system via introducing a fictive uncertainty module.Compared with PID controllers,experiment results show that the control system can maintain a good robust performance in model uncertainty and parameter perturbations,which proves the effectiveness of the proposed μ synthesis method.