Method for inhibiting moving-gimbal effects of single gimbal magnetically suspended control moment gyroscope

Abstract

The invention relates to a method for inhibiting moving-gimbal effects of a single gimbal magnetically suspended control moment gyroscope. In the method, a state equation of the single gimbal magnetically suspended control moment gyroscope is set up according to newton second law and a gyro technique equation; an inversion analysis of a system is calculated by utilizing an inverse system method; in a rotor system, moving-gimbal displacement of a magnetically suspended rotor is eliminated through state feedback of rotor displacement, an rotor reflection angular speed and a gimbal angular speed, and in a gimbal system, reactionary torque interference of the rotor to the gimbal system is eliminated through state feedback of the gimbal angular speed and the rotor reflection angular speed; anda robust servocontrol strategy is adopted to improve the robustness of the whole system. In the method, the moving-gimbal displacement of the magnetically suspended rotor is eliminated, the reactionary torque interference of the rotor system to the gimbal system is also eliminated in the gimbal moving process, and the stability and precision of the whole single gimbal magnetically suspended control moment gyroscope are improved. The method belongs to the technical field of aerospace control, and can be applied to high-precision control of magnetically suspended control moment gyroscopes.

Description

technical field [0001] The invention relates to a method for suppressing the moving frame effect of a single-frame magnetic suspension control moment gyro (Control Moment Gyroscope-CMG), which is suitable for high-precision control of a single-frame magnetic suspension control CMG. technical background [0002] CMG is a key actuator for attitude control of spacecraft such as space stations, large satellites, agile maneuvering satellites and space maneuvering platforms. The CMG consists of a constant-speed rotor and a frame rate servo system. When the frame rotates, the angular momentum of the rotor is forced to change, and gyro torque is output outward. The CMG output torque is proportional to the angular momentum of its high-speed rotor. The spacecraft attitude actuator is required to have the characteristics of long life, large torque, high precision, small size and low power consumption. Because of these advantages, magnetic levitation CMG has become an important develop...

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Problems solved by technology

[0004] The technical problem of the present invention is: to overcome the deficiency that the angular rate feedforward control cannot completely suppress the influence of the dynamic frame effect on the stability and precision of the single-frame magnetic levitation CMG, and propose a method for suppressing the single-frame magnetic levitation CMG dynamic frame effect, In the rotor system, the dynamic frame displacement of the maglev rotor is eliminated by the state feedback of the rotor displacement, rotor deflection angular rate and frame angular rate, and in the frame system, the rotor’s impact on the frame is eliminated by the state feedback of the frame angular rate and rotor deflection angular rate. The reaction torque disturbance of the system

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