敏捷机动卫星用磁悬浮控制力矩陀螺主动振动控制方法与实验研究

Magnetically Suspended Control Moment Gyroscope is composed of a magnetic suspended rotor system and gimbal frame system, it is an ideal execution mechanism for future ultra-high-resolution agile maneuvering satellite for the reason that it has the advantages of micro-vibration, large torque and high precision. The low-amplitude high-frequency vibration caused by the high-speed rotation of the magnetic suspended rotor is an important factor which restricts the improvement of resolution of satellite. The dynamic frame effect caused by the dynamic coupling between the gimbal frame and the magnetic suspended rotor during the rotation of the gimbal frame will increase the inertial axial runout of the rotor and parameter perturbation of the magnetic bearing, which significantly increases the difficulty of active vibration control of the magnetically suspended rotor system. In this project, the vibration mechanism of the magnetically suspended control moment gyroscope under the dynamic frame effect is first studied, and the coupled dynamic model between the frame and the magnetic suspension rotor is established. Secondly, the inertial axis identification of the magnetic suspended rotor based on Hilbert transform and nonlinear adaptive control is proposed to improve the identification accuracy, which provides an accurate parameter basis for the active vibration control. In addition, an active vibration control method for the magnetic suspended rotor system based on the disturbance observer and the finite-dimensional repetitive control is proposed to realize the micro-vibration of the Magnetically Suspended Control Moment Gyroscope under the dynamic frame effect. Finally, an integration experiment was conducted to verify the effectiveness of the method. The research result of this project will provide a theoretical and technical basis for the application of magnetic levitation control moment gyroscope to the attitude control of ultra-high-resolution agile maneuvering satellite.

磁悬浮控制力矩陀螺由磁悬浮转子系统和框架系统构成，具有极微振动、大力矩和高精度等优点，是未来超高分辨率敏捷机动卫星的理想执行机构。磁悬浮转子高速旋转引起的低幅高频振动是制约卫星分辨率提高的重要因素，而框架转动时框架和磁悬浮转子之间的动力学耦合会引起动框架效应，进而导致转子惯性轴跳动量增大和轴承参数摄动等问题，显著增大了磁悬浮转子系统的主动振动控制难度。本项目首先对动框架效应下磁悬浮控制力矩陀螺振动产生机理进行研究，建立框架和磁悬浮转子之间的耦合动力学模型；其次，提出基于Hilbert变换和非线性自适应算法的磁悬浮转子惯性轴辨识方法，提高辨识精度，为主动振动控制提供准确的参数依据；提出基于干扰观测器和有限维重复控制的磁悬浮转子系统主动振动控制方法，实现动框架效应下磁悬浮控制力矩陀螺极微振动；最后进行集成实验验证。本项目研究为磁悬浮控制力矩陀螺应用于超高分辨率敏捷机动卫星奠定了理论和技术基础。

随着未来超高分辨率敏捷机动卫星的发展，对卫星平台指向精度、姿态稳定度和敏捷机动能力要求越来越高。磁悬浮控制力矩陀螺具有微振动、大力矩和高精度等优点，是未来敏捷机动卫星的理想执行机构。然而，磁悬浮转子高速旋转引起的低幅高频振动是制约卫星分辨率提高的重要因素。本项目以多体动力学和振动控制为理论基础，围绕动框架效应下磁悬浮控制力矩陀螺主动振动控制进行研究。建立了动框架效应下磁悬浮控制力矩陀螺多体动力学模型，分析了在动框架效应下磁悬浮控制力矩陀螺振动机理；提出了变静态悬浮位置的磁中心辨识方法、基于非线性自适应控制的磁悬浮转子惯性轴辨识方法，消除了位移传感器谐波噪声同频分量对位移刚度力补偿的影响，有效地提高了磁悬浮转子惯性轴辨识精度；提出了基于干扰观测器的框架和转子耦合振动前馈补偿方法，并提出了一种并联式有限维重复控制器和磁轴承主控制器并联的复合控制方法，基于根轨迹分布特性设计控制器参数，在保证闭环系统稳定性的前提下，对功率放大器低通特性引起的误差进行自适应补偿，实现动框架效应下磁悬浮控制力矩陀螺的微振动控制；最后基于气浮台集成实验系统完成集成实验验证。 .本项目研究的振动机理、高精度磁悬浮转子惯性轴辨识方法、多谐波电流抑制和多谐波振动抑制方法，为解决磁悬浮轴承主动振动控制奠定了理论和技术基础。研究成果可应用于超高分辨率敏捷机动卫星用磁悬浮惯性执行机构的主动振动控制，也可推广应用于磁悬浮储能飞轮、磁悬浮电机等相关领域。本项目发表学术论文9篇，其中SCI收录3篇；授权国家发明专利2项，受理国家发明专利4项，完成专利成果转化50万；培养硕士研究生4名，其中已毕业1名，在读硕士研究生3名。