基于位置信号的三浮陀螺仪有源磁悬浮干扰力矩补偿方法

Disturbance-torque compensation for active magnetic bearing of three-floated gyroscope based on position signal

针对高精度三浮陀螺采用有源磁悬浮之后带来新的干扰力矩问题,提出了基于位置信号的干扰力矩补偿法。对有源模式下径向元件电磁模型进行了分析,得出磁悬浮干扰的直接原因为同一坐标方向的两个极下磁场不对称,定、转子几何中心偏移越大这种不对称性也越大。建立了磁悬浮干扰力矩常值部分和随机部分与定中位置、定中精度的关系数学模型,在陀螺测试输出中对其进行补偿。多次实验表明,引入该补偿算法后陀螺固定位置随机漂移精度平均提高了33%~42%,同时也提高了磁悬浮的定中精度,证明此方法有效。

To solve the problem of disturbance torque in three-floated gyroscope with active magnetic bearing, a new disturbing torque compensation method based on position signal is presented. The magnetic model of the magnetic bearing＇s radial part in active magnetic mode is analyzed, which show that the immediate cause of disturbance torque is the magnetic flux density difference between two poles in the same coordinate, and the disturbing torque will be more serious when with a large geometric centers offset between the stator and the rotor. The disturbance torque＇s compensation mathematical models are built and used in the test system. The test results show that the fixed-state random drift is improved by 33%-42% and the centering precisions of the magnetic bearing is significantly improved after compensation, showing that the proposed method is effective.