Design And Implemention Of Magnetic Suspended Control Moment Gyroscope High-Speed Rotor Driving System

MSCMG(Magnetic suspended Control Moment Gyroscope) is an advanced executive component of attitude control. It has many advantages, for instance, low vibration noise, high precision of output torque, long life, etc, and has been a hot area of research. For high speed high steady state accuracy requirement of MSCMG flywheel speed control system, the detailed control system is analysed, designed and implemented based on FPGA by this paper, and the main work of it is listed as the following:Firstly, the model of MSCMG flywheel subsystem is analysed and established. The fundamental structure and operational principle of the flywheel motor is introduced, with the meathod of phase-variable, the mathematical model and the transfer function is setted up and given, then the operational characteristic is expounded in detail baesd on the given accurate mathematic model. The Pase-locked-loop speed control principle and its fundamental form consisting of auto-frequency-correction, auto-phase-correction and voltage controlled oscillator are introduced and modeled.Secondly, based on the transfer function of flywheel motor this paper designs the parameters of digital current loop control system, derived the current loop parameter estimation formula. A a novel digital PLL speed system is proposed, based on the VCO consisting of current loop- flywheel motor- hall position sensor speed loop control system is designed and its parameters estimation formula is derived. The paper then designs of a circuit control system including a high precision PWM generator, digital PI regulator, improved M/T digital tachometer.Based on the given overall design framework of hardware circuit system, for the flywheel motor with a small induction, the traditional PWM modulation method is improved, a power driving circuit based on the structure of PWM/AM is designed. The circuit design of control system, including the system main control chip, position and current detection circuit, isolation circuit is introduced in detail, and correspondingly the EMC of all the circuits are analysed and designed.The flywheel motor commutation torque ripple and its influence on the speed stable are analysed, according to reaching condition proposed by Ramirez by the form of Lyapunov derivative, the sliding mode variable structure control law is designed, the control mode of a phase locked loop sliding mode variable structure current loop.Finally, the experimental platform is set up, the performance of current loop and phase-locked loop speed steady test experiments of the designed control system by this paper are conducted and the results of them are analysed, the experimental results show that good dynamic and static performance of current loop, speed system has the high accuracy of speed stability.