Attitude angular velocity measuring method based on magnetic-suspension inertia actuator

An actuator, velocity measurement technology, applied in linear/angular velocity measurement, velocity/acceleration/shock measurement, navigation through velocity/acceleration measurement, etc., can solve problems such as accurate measurement and application research

Inactive Publication Date: 2012-12-19
BEIHANG UNIV
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Problems solved by technology

At present, there is no application research on the precise measurement of the attitude angular velocit

Method used

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  • Attitude angular velocity measuring method based on magnetic-suspension inertia actuator
  • Attitude angular velocity measuring method based on magnetic-suspension inertia actuator
  • Attitude angular velocity measuring method based on magnetic-suspension inertia actuator

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and implementation examples.

[0035] The flow chart of the present invention is as figure 1 As shown, on the basis of calculating the magnetic bearing force corresponding to each control channel of the radial magnetic bearing, the precession moment of the radial magnetic bearing when the attitude of the spacecraft changes is obtained, and then according to the rough estimation equation of the spacecraft attitude angular velocity, the attitude angular velocity Rough estimated value; by calculating the closed-loop system transfer function of the attitude measurement system, the decoupling matrix and compensation matrix of the transfer function are obtained, and finally the fine estimated value of the attitude angular velocity of the spacecraft after decoupling compensation is obtained. The specific steps are as follows:

[0036] Step 1: Calculate the magnetic bea...

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Abstract

Disclosed is an attitude angular velocity measuring method based on a magnetic-suspension inertia actuator. On the basis of modeling of an attitude measuring system for an active magnetic bearing, influence of a displacement stiffness item in bearing force on attitude measurement of angular velocity is considered, a dynamic coupling and static compensation network design method for two-axis attitude angular velocities, which are acquired by measuring, for dynamic coupling and static error between the two-axis angular velocities of a spacecraft. The attitude angular velocity measuring method is simple and practical, the attitude measuring system based on the active magnetic bearing has high capacity of tracing attitude angular velocities of the spacecraft, high-precision attitude angular velocities of the spacecraft are achieved, and foundation for integration of attitude measurement and attitude control of the magnetic-suspension inertia actuator is laid.

Description

technical field [0001] The invention relates to a method for measuring attitude angular velocity based on a magnetic levitation inertial actuator, belongs to the technical field of aerospace control, and can be used in a spacecraft attitude control system. Background technique [0002] The magnetic levitation inertial actuator is a key actuator for attitude control of spacecraft such as agile mobile satellites. Because its high-speed gyro rotor is supported by magnetic bearings, it has the characteristics of no friction, no lubrication, and active vibration suppression. An effective solution for high precision, long life and fast maneuvering attitude control. The high-speed gyro rotor of the magnetic levitation inertial actuator is supported by a five-degree-of-freedom permanent magnet bias hybrid magnetic bearing. When the spacecraft maneuvers, because the high-speed rotor shaft has a fixed axis, the magnetic bearing control system generates corresponding electromagnetic fo...

Claims

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Application Information

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IPC IPC(8): G01P3/00G01C21/16
Inventor 郑世强韩邦成李海涛房建成
Owner BEIHANG UNIV
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