磁悬浮惯性稳定平台协同控制策略与耦合效应抑制方法研究

High attitude stability of aerial remote sensing camera is a key factor to ensure its high resolution imaging. The performance of inertially stabilized platform, which is used as suspending and attitude controlling for remote sensing camera, directly determines the image quality of camera. By using maglev inertially stabilized platform, less tracking error and jitter can be obtained, because of its ability to achieve the function of dual-stage stable with single-stage. Whereas, coupling effect and synergistic control method, between maglev system and gimbal part of maglev inertially stabilized platform, are still not deeply researched in theory. In this item, the nonlinear dynamic models of magnetic bearing system and gimbal system are firstly established, and are linearized according to the actual working condition. Secondly, the cooperative control strategy and coupling effect, between maglev system and gimbal system, are researched, based on PID controller and frequency analysis method respectively. Then, suppression methods of coupling effect for maglev inertially stabilized platform, due to negative stiffness, displacement saturation and reaction force of magnetic bearing, are proposed. Finally, the validity of proposed cooperative control strategy and suppression methods of coupling effect is verified by experiment.

航空遥感相机的高姿态稳定度是确保其高分辨率成像的关键。作为遥感相机的支承及姿态控制平台，惯性稳定平台的性能直接决定着载荷的成像质量。磁悬浮惯性稳定平台可用单级稳定系统的体积和重量实现二级稳定系统的功能，可为载荷提供更高的视轴指向精度和稳定精度。但是，对于磁悬浮惯性稳定平台磁轴承系统与框架系统之间的耦合效应及协同控制策略，目前还没系统深入的理论研究。本项目首先建立磁悬浮惯性稳定平台磁轴承系统和框架系统非线性动力学模型，并考虑系统实际工作条件，对所得非线性模型进行线性化；其次，基于PID控制器设计磁轴承系统与框架系统协同控制策略，运用频域分析的方法研究磁轴承系统与框架系统之间的耦合效应；然后，提出耦合效应抑制方法，包括对磁轴承负刚度效应、饱和效应和反作用效应的抑制；最后，通过实验验证协同控制策略和耦合效应抑制方法的有效性。

相对于传统机械惯性稳定平台，磁悬浮惯性稳定平台可为载荷提供更高的视轴指向精度和稳定精度，但是其机构复杂、控制难度大。本项目主要研究磁悬浮惯性稳定平台磁轴承系统与框架系统之间的耦合效应及协同控制策略。.首先建立磁悬浮惯性稳定平台磁轴承系统和框架系统非线性动力学模型，并考虑系统实际工作条件，对所得非线性模型进行线性化。其次，基于PID控制器设计磁轴承系统与框架系统协同控制策略，运用频域分析的方法研究磁轴承系统与框架系统之间的耦合效应。然后，提出耦合效应抑制方法，包括对磁轴承负刚度效应、饱和效应和反作用效应的抑制。最后，通过实验验证协同控制策略和耦合效应抑制方法的有效性。