Rotor Control And Application Of Magnetic Suspended Variable Speed Control Moment Gyroscope

Variable Speed Control Moment Gyroscopes(VSCMG)combined with the advantage of Control Moment Gyroscopes(CMG)and Fly Wheel(FW).The traditional mechanical support limit rotor’s performance to some extent,such as speed,life,precision,noise etc.VSCMG supports with maglev have many advantages such as long-life,low-power,low-loss,low-noise and micro-vibration,etc.Magnetic Suspended VSCMG(MSVSCMG)of research paper has higher speed,which can better play to the performance of variable speed.The level of rotor motion control with highspeed determined size and accuracy of gyros output torque,which is the key technology.This paper take MSVSCMG as a subject,focused research rotor suspension control and gyro application in satellite attitude control.And mostly from four sides to expansion study,which is dynamics modeling,the design of control algorithm,simulation and experiment.Firstly,the energy equations of the rotor based on rotor strength analysis are established.The dynamic model of gyro system has derived through Lagrange first theorem.And simplified it under the decoupling hypothesis,the dynamic equation of the gyro rotor’s radial two Degree Of Freedom(DOF)and axial three DOF have got.To identify the working ststes of gyro,which is suspension with rotor stillness / rotor turning / frame rotation,and the dynamic equation of this three states are established respectively in axial tunnel.The mainly factors of influence rotor suspension control are analyzed.And then,this article focuses on linear control methods for suspended rotor.Corresponding two levels of PD controller for control objects of radial 2DOF and axial 3DOF are designed by root locus,bode diagram,step response,stability margin.The effectiveness of controller are proved by simulation results of closed-loop control system.Damping and stiffness of rotor system with highspeed after introduced cross-feedback control are studied,and the results of imported cross-feedback control have shown that the control performance of system has improved.An experimental investigation which take magnetic bearing system of one MSVSCMG as subjects,and the results indicate that the designed controller can realized stable suspension.Two robust control method are researched.The H∞mixed sensitivity control are studied in rotor radial DOF suspension,and the H∞state feedback control are discussed in rotor 3DOF suspension.H∞controller are designed by considering uncertainty of system,and verify it’s effectiveness through simulation.Comparative analysis of this simulation results with Two levels of PD control,which highlights that superiority of H∞control.Finally,research about the application of MSVSCMG was made.Taking the typical maneuver task of dynamic scanning imaging satellite as background,and Pyramid configuration MSVSCMG as satellite attitude control actuator is researched.Started from dynamic equation of satellite and combined mobile mission of satellite,a new attitude maneuver law is designed.According to instruction moment which output from control law,the steering law of actuator is designed.A numerical simulation is given to illustrate the proposed control scheme is feasibility.