Magnetic suspension controlled sensitive gyroscope configuration based attitude angle velocity measuring method

Abstract

The invention relates to a magnetic suspension controlled sensitive gyroscope configuration based attitude angle velocity measuring method. According to a dynamical model of a magnetic suspension rotor which moves follows the attitude of a spacecraft, the change of the motion state of a high-speed rotor depends on an external torque exerted on the high-speed rotor, the external torque comprises a magnetic bearing torque and a disturbance torque, and the disturbance torque is associated with the attitude angle velocity of the spacecraft; the magnetic bearing torque can be obtained by detecting the current of a magnetic bearing and the displacement of the rotor, and then through the balancing relationship between the magnetic bearing torque and the disturbance torque, the estimation on the angle velocity of the spacecraft is realized; and by using four magnetic suspension controlled sensitive gyroscopes in pyramid configuration, eight pieces of measuring information about the magnetic torque can be provided, so that the high-precision calculation of the attitude angle velocity and the angular acceleration is realized. According to the method, the attitude control function of the magnetic suspension controlled sensitive gyroscope configuration can be ensured while the estimation on the high-accuracy angle velocity is realized, and the high-precision and high-stability attitude control is realized.

Description

technical field [0001] The invention relates to an attitude angular velocity measurement method based on a magnetic levitation control sensitive gyro configuration, which is suitable for high-precision attitude angular velocity measurement and attitude control of spacecraft. technical background [0002] The detection and control of the traditional attitude control system are separated. The entire attitude control system is a single closed-loop structure, and there must be a "barrel short board" effect, that is, if the accuracy and bandwidth of a component of the attitude control system are limited, the entire attitude control The control accuracy and bandwidth of the system are also limited; in addition, the separation of detection and control means that the measurement and control are not co-located, and the satellite itself is flexible, which will inevitably lead to misalignment control problems, which will affect the stability of the entire star and robustness. In order...

AI Technical Summary

Problems solved by technology

In order to solve this problem, this patent proposes a high-precision measurement method based on the magnetic levitation control sensitive gyro configuration, which avoids the principle defect that the conventional gyro ignores the high-order quadratic term and partial coupling term, and realizes the high-precision and high-precision measurement method of the spacecraft. Stability control lays the groundwork

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