三浮陀螺有源磁悬浮系统力学模型分析

Mechanics model analysis of active magnetic suspension system in three-floated gyroscope

有源磁悬浮系统在高过载条件下的工作状态,是影响三浮陀螺和平台系统使用精度的关键因素。针对此问题,分析磁悬浮系统加力的作用机理,对系统的力学模型进行研究。从刚体动力学基本方程出发,以三浮陀螺浮子组件为研究对象,建立了浮子5个受控自由度的动力学关系和浮子运动的状态方程。然后对瞬时冲击力、阶跃常值力和简谐变化力作用下浮子运动规律的进行了分析和计算。仿真结果表明,当三种过载同时作用在浮子上时,磁悬浮系统在闭环状态下浮子位移的稳态值为2.12?m,即浮子最终停在线性区的边缘,不会碰到轴尖,因此不会影响仪表的精度和可靠性。但由于加力的刚度比较小,系统的过渡时间比较长。

The working state of active magnetic suspension system in high overload conditions is the key factor that affects the precisions of three-floated gyroscope and platform system.To solve this problem,the strength mechanism of magnetic suspension system is analyzed,and the mechanical model of the system is studied.From the basic equations of rigid body dynamics,and with three-floated gyroscope floater components as the research object,the dynamic relationships of the floater with five controlled freedoms and the state equation of the floater movement are established.And then the laws of floater movements under instantaneous impact,step constant-force and harmonic varied-force are analyzed and calculated,respectively.Simulation results show that,when the three overloads simultaneously act on the floater,the steady-state value of floater displacement under closed-loop state of magnetic suspension system is 2.12 ？m,i.e.the floater will eventually stop at edge of linear zone without touching shaft tip,so it won＇t affect the accuracy and reliability of the instrument.However the transition time of the system is long due to the small stiffness of the suspension force.