Robust Control for a Magnetically Suspended Control Moment Gyro with Strong Gyroscopic Effects

摘要

For a magnetically suspended control moment gyroscope (MSCMG) with strong gyroscopic effects, the nutation and precession stability control is an important part of system stability. In order to improve nutation and precession stability effectively, a robust control method based on parameter perturbation robust control and regional pole assignment is proposed in this paper. First, the precise state space model of the magnetic bearing rotor system is established, and the gyroscope effect term is regarded as a varying perturbation parameter with the rotor speed. Then, the basic constraints for the stability of the closed loop system in the full speed range are derived from the parameter perturbation robust control method. Moreover, the additional constraints of high stability for the nutation and the precession are derived through the method of the region pole assignment. Finally, all the constraints that the robust controllers need to satisfy are derived into linear matrix inequalities (LMIs), and the robust controller is obtained by solving the LMIs. The validity of the method is verified on the MSCMG simulation platform.