磁化悬浮-感应驱动型动量球系统

Momentum sphere system of magnetization suspension and induction driving

磁悬浮动量球是一种高功能密度比的微小卫星三轴姿控部件。磁悬浮与驱动原理的选择、磁极拓扑结构的布局以及传感方式的选用,从悬浮-旋转兼容性和空间结构干涉性上制约着磁悬浮动量球的可实现性。提出了一种新型的悬浮-旋转解耦、结构简单紧凑的磁化悬浮-感应驱动型动量球系统,以单轴实现为例详细论述了系统组成与工作原理,对子模块的设计、硬件实现与建模开展了研究。针对开环不稳定悬浮系统,提出一种基于构造法的控制参数设计方法,并给出了系统的三轴拓展方式。仿真和实验结果表明,该系统可以实现悬浮与旋转功能,悬浮球体在有旋转和无旋转时的位移稳定度分别约为1.6μm和4.7μm,球形转子的转速可达720 r/min。

The magnetic levitation momentum sphere used in a micro-satellite is a three-axis attitude control component with high function-to-density ratio. The realizability of the magnetic suspension momentum sphere, in terms of the interference capability of the spatial structure and the compatibility between suspension and rotation, is restricted by the selection of magnetic levitation and driving principle, the choice of the layout of the magnetic pole topology and the selection of sensing way. A new kind of magnetic suspension momentum sphere system with simple and compact structure is realized by magnetization suspension and induction driving, which is decoupled between suspension and rotation. The system composition and working principle are discussed by using one-axle as an example. The submodule design, hardware implementation and modeling are studied. Through structured approach, a design method of the control parameters is proposed for the unstable levitation system in open-loop state, and a three-axis development way for this system is introduced. Simulation and experimental results show that suspension and rotation can be realized by this system. The displacement stabilities of the suspended sphere with and without rotation are about 1.6 μm and 6 μm, respectively, and the speed of the spherical rotor can reach 720 r/min.