Radial decoupling method of rotor system of magnetically suspended control moment gyroscope

Abstract

The invention relates to a radial decoupling method of a rotor system of a magnetically suspended control moment gyroscope (CMG). The method comprises the steps of establishing a state equation of the rotor system of the magnetically suspended CMG according to the Newton's second law and a gyroscope technology equation; calculating the analytical inverse of the system in a reversible region by utilizing the method of an analytical inverse system; and amending a state variable of an irreversible region for realizing the exact linear decoupling of the system in the whole working range. The method belongs to the technical field of aerospace control and can be applied in the high-precision control of the magnetically suspended CMG.

Description

technical field [0001] The invention relates to a radial decoupling method of a control moment gyroscope (Control Moment Gyroscope-CMG) rotor system of a magnetic levitation, which is suitable for high-precision control of a magnetic levitation CMG and belongs to the technical field of aerospace control. Background technique [0002] Magnetic levitation CMG has become an important development direction of spacecraft attitude control actuators such as space stations, space maneuvering platforms and agile maneuvering satellites because of its outstanding advantages such as no friction, low vibration, easy realization of high precision and long life. Because the precision of the magnetic levitation control torque gyro rotor system directly affects the accuracy of the entire control torque gyro output torque, and the multivariable, nonlinear and strong coupling characteristics of the magnetic levitation CMG rotor system bring challenges to its high-precision control, so the magne...

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Problems solved by technology

[0003] The problem solved by the technology of the present invention is: to overcome the lack of accurate linearization and decoupling of the radial four channels of the magnetic levitation CMG rotor system in the existing method, and to address the irreversible region in the radial direction of the magnetic levitation CMG rotor system within the entire working range, a method is proposed Based on the decoupling method of the modified inverse system, the accurate linear decoupling of the system in the entire working range is realized by modifying the radial four-channel state variables

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