提出一种基于角速率前馈与力矩观测相结合的磁轴承负载力矩复合补偿控制方法来提高双框架磁悬浮控制力矩陀螺磁悬浮转子的悬浮精度。建立了双框架磁悬浮控制力矩陀螺磁悬浮转子动力学模型, 分析了内外框架转动情况下的磁轴承负载力矩。分别基于框架角速率前馈和力矩观测设计了磁轴承负载力矩复合补偿控制方法, 分析了补偿后系统的稳定性。最后, 利用实验室研制的样机搭建试验平台对本文所提出的方法进行了实验验证。结果表明: 在框架以角加速度120(°)/s2启动至10(°)/s时, 该方法使转子Ax端位移跳动量减小为未补偿前的44.8%; 内外框架以幅值 频率10 Hz正弦激励时, 转子Ax、By端的位移跳动量分别减小为未补偿前的23.4%和35.5%。结果显示提出的方法有效地提高了磁悬浮转子在负载力矩扰动下的悬浮精度。

By combining with the angular rate feedforward controller and a load torque observer, a composite compensation method for the load torque of an active magnetic bearing was proposed to improve the suspension accuracy of the magnetically suspended rotor in a Double-gimbal Magnetically Suspended Control Moment Gyro(DGMSCMG). The dynamical model of the magnetically suspended rotor in the DGMSCMG was established, and the load torque of the active magnetic bearing with inner and outer gimbal movements was analyzed. Then the composite compensation control method based on the angular rate feedforward controller and the load torque observer was designed, and the system stability after compensation was discussed. Finally, the performance of the proposed method was verified by a prototype developed by the our laboratory. The experimental results show that the displacement jitters at the end Ax of the rotor have reduced to 44.8% when angular rates of the gimbal starts from 120(°)/s2 to 10(°)/s. Moreover, the displacement jitters have reduced to 23.4% and 35.5% at the end Ax and end By of the rotor when angular rates of the gimbal are excited by the sinusoidal signal with the amplitude 10(°)/s and frequency of 10 Hz,respectively. The results indicate that the proposed method increases the control accuracy of the magnetically suspended rotor with the load torque by gimbal movements.