磁悬浮控制力矩陀螺(Magnetically Suspended Control Moment Gyroscope, MSCMG)内转子存在的多源高频振动会影响自身稳定性,导致卫星姿态指向精度降低。针对其高频扰动及抑制问题,以所研制的小型立式单框架磁悬浮控制力矩陀螺为研究对...磁悬浮控制力矩陀螺(Magnetically Suspended Control Moment Gyroscope, MSCMG)内转子存在的多源高频振动会影响自身稳定性,导致卫星姿态指向精度降低。针对其高频扰动及抑制问题,以所研制的小型立式单框架磁悬浮控制力矩陀螺为研究对象,建立动力学模型并分析了高速磁浮转子的振动特性,为内转子振动抑制提供依据。采用非参数频域辨识方法辨识整机内转子中频结构模态,通过在控制回路中串入二阶微分环节对其进行相位补偿。在稳定控制的基础上,采用自适应跟踪滤波器设计了高速磁轴承-转子系统振动抑制控制器对同频和倍频分量进行振动辨识和抑制,并在样机上进行了宽转速范围内的振动测试。实验结果表明:所设计的振动补偿控制器稳定、可行,最高工作转速达到30000rpm,全速域范围内振幅最大不超过0.07m/s2,轴心位移振动幅值和控制电流大大降低,有利于提高力矩陀螺整机的角动量指向精度。展开更多
To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance....To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.展开更多
针对磁悬浮分子泵转子在高速运转时章动模态造成的失稳问题,提出一种基于交叉反馈的章动相位裕度跟踪补偿控制方法。利用磁悬浮转子系统的复系数建模方法,定量分析闭环控制作用下扁平转子的阻尼章动频率,确立章动频率与控制系统参数及...针对磁悬浮分子泵转子在高速运转时章动模态造成的失稳问题,提出一种基于交叉反馈的章动相位裕度跟踪补偿控制方法。利用磁悬浮转子系统的复系数建模方法,定量分析闭环控制作用下扁平转子的阻尼章动频率,确立章动频率与控制系统参数及转速间的解析关系,设计自适应滤波器跟踪提取章动频率信号,应用于交叉反馈的章动控制通道,实现全转速范围内对章动相位裕度的跟踪补偿控制。仿真结果表明,章动频率解算精确,基于交叉反馈的章动模态控制方法可有效解决磁悬浮高速转子全转速范围内的章动模态稳定控制问题。最后,将所提方法应用于所研制的大抽速磁悬浮分子泵控制系统,章动模态振动幅值被抑制在-60 d B以下,消除了章动模态对控制系统稳定性的影响,确保了磁悬浮分子泵长期可靠运行。展开更多
A new model for three-dimensional processes based on the trinion algebra is introduced for the first time.Compared to the pure quaternion model, the trinion model is more compact and computationally more efficient,whi...A new model for three-dimensional processes based on the trinion algebra is introduced for the first time.Compared to the pure quaternion model, the trinion model is more compact and computationally more efficient,while having similar or comparable performance in terms of adaptive linear filtering. Moreover, the trinion model can effectively represent the general relationship of state evolution in Kalman filtering, where the pure quaternion model fails. Simulations on real-world wind recordings and synthetic data sets are provided to demonstrate the potential of this new modeling method.展开更多
文摘磁悬浮控制力矩陀螺(Magnetically Suspended Control Moment Gyroscope, MSCMG)内转子存在的多源高频振动会影响自身稳定性,导致卫星姿态指向精度降低。针对其高频扰动及抑制问题,以所研制的小型立式单框架磁悬浮控制力矩陀螺为研究对象,建立动力学模型并分析了高速磁浮转子的振动特性,为内转子振动抑制提供依据。采用非参数频域辨识方法辨识整机内转子中频结构模态,通过在控制回路中串入二阶微分环节对其进行相位补偿。在稳定控制的基础上,采用自适应跟踪滤波器设计了高速磁轴承-转子系统振动抑制控制器对同频和倍频分量进行振动辨识和抑制,并在样机上进行了宽转速范围内的振动测试。实验结果表明:所设计的振动补偿控制器稳定、可行,最高工作转速达到30000rpm,全速域范围内振幅最大不超过0.07m/s2,轴心位移振动幅值和控制电流大大降低,有利于提高力矩陀螺整机的角动量指向精度。
文摘To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.
文摘针对磁悬浮分子泵转子在高速运转时章动模态造成的失稳问题,提出一种基于交叉反馈的章动相位裕度跟踪补偿控制方法。利用磁悬浮转子系统的复系数建模方法,定量分析闭环控制作用下扁平转子的阻尼章动频率,确立章动频率与控制系统参数及转速间的解析关系,设计自适应滤波器跟踪提取章动频率信号,应用于交叉反馈的章动控制通道,实现全转速范围内对章动相位裕度的跟踪补偿控制。仿真结果表明,章动频率解算精确,基于交叉反馈的章动模态控制方法可有效解决磁悬浮高速转子全转速范围内的章动模态稳定控制问题。最后,将所提方法应用于所研制的大抽速磁悬浮分子泵控制系统,章动模态振动幅值被抑制在-60 d B以下,消除了章动模态对控制系统稳定性的影响,确保了磁悬浮分子泵长期可靠运行。
基金Project supported by the National Natural Science Foundation of China（Nos.61331019 and 61490691） the China Scholarship Council Postgraduate Scholarship Program（2014） the National Grid（UK）
文摘A new model for three-dimensional processes based on the trinion algebra is introduced for the first time.Compared to the pure quaternion model, the trinion model is more compact and computationally more efficient,while having similar or comparable performance in terms of adaptive linear filtering. Moreover, the trinion model can effectively represent the general relationship of state evolution in Kalman filtering, where the pure quaternion model fails. Simulations on real-world wind recordings and synthetic data sets are provided to demonstrate the potential of this new modeling method.
