磁悬浮飞轮全转速不平衡振动控制研究

Magnetic bearing flywheel possesses many advantages against the classical bearings, including no contact, no wear, low noise, active control, etc. That is, the real-time vibration suppression algorithm can be directly loaded in the magnetic bearing control system and higher vibration suppression can be achieved, which is suitable for the ultra-precision observation missions. The vibration control precision for the magnetically suspended flywheel is directly related to the satellite attitude. The vibration has the characteristics of multi-frequencies, large dynamic response, and highly correlated to rotor rotational speed. Focus on the vibration suppression for magnetically suspended flywheel in the full speed range, the project first analyzes the vibration mechanism, and then develops the complete imbalance vibration dynamical model for the magnetically suspended flywheel. Based on the analysis of the vibration characteristics, a phase lag notch filter for synchronous vibration and a novel multiple resonant controller for the multi-frequency vibration are proposed. Finally, the vibration characteristics of a magnetically suspended flywheel are experimentally tested by the standard forces/torques measurement instrument. This work will provide the necessary theoretical basis and critical technology for the implementation of the magnetically suspended flywheel. It will also promote the settlement of the common scientific issues in the active vibration control.

磁悬浮飞轮由于无摩擦磨损、低噪音、可主动振动控制等优点，成为高分辨率对地观测卫星的理想惯性姿态控制执行机构。磁悬浮飞轮的不平衡振动直接影响了超稳超静卫星平台的姿态精度。磁悬浮飞轮全转速下的不平衡振动具有动态响应变化大、频谱特性丰富、与转速高度相关等特征，给主动振动算法的分析和实施带来新的难题。本项目针对磁悬浮飞轮全转速不平衡振动控制方法展开研究。首先分析磁悬浮飞轮不平衡振动机理，并建立完整的不平衡振动动力学模型，预测不平衡振动特性；针对不平衡振动特性，提出基于相位滞后补偿的同频振动控制方法和新型递推设计多谐振倍频振动控制方法，实现全转速不平衡振动高稳定度、高精度控制；最后，建立磁悬浮飞轮振动实验平台，进行相应的不平衡振动实验验证。本项目的研究为磁悬浮飞轮用于超稳超静卫星平台的应用提供理论基础和关键技术攻关，同时促进主动振动共性科学问题的解决。

瞄准飞轮这一卫星姿态稳定和能量存储核心部件，其内在不平衡振动特性引致平台振动加剧甚至整机失稳难题，本项目聚焦磁悬浮飞轮主动可控特性，力求突破卫星高姿态稳定度和超高姿态指向精度瓶颈。为此，围绕磁悬浮飞轮不平衡振动动力学特性、高精度高稳定度同频振动和倍频振动抑制三大关键问题，本项目在四个方面取得了重要结果。（1）明确了磁悬浮飞轮不平衡振动机理，建立了完整的磁悬浮转子系统动力学模型，搭建了磁悬浮飞轮振动实验软硬件平台；（2）提出了基于相位滞后补偿陷波器的同频振动力抑制方法，通过设计陷波器相位滞后补偿，实现了变转速高精度同频振动力抑制，同频振动力幅值降低近两个数量级；（3）提出了基于递推设计多谐振控制器的倍频振动力抑制方法，详析了多谐振控制器结构性能差异，有效抑制了变转速转子倍频振动力。该研究成果为我国目前迫切需求的新一代双超卫星平台提供理论和技术支持，进一步推动我国深空探测、对地观测等技术革新和进步。