磁悬浮控制力矩陀螺转子系统径向自抗扰解耦控制和扰动抑制

摘要

In order to overcome disturbance effect in stability of magnetic suspended rotor and output torque accuracy of magnetically suspended control moment gyroscope, this paper presents a disturbance rejection method of magnetic suspended rotor based on active disturbance rejection controller. The dynamics model of magnetic suspended rotor is established, decoupling model of radial four channel is obtained based on principle of ADRC, rotor radial four channel decoupling and disturbance rejection is achieved through ADRC. Through simulation, we find ADRC controller has good function of disturbance rejection, canimprove stability precision of rotor and output torque accuracy of control moment gyroscope. Therefore, this method not only improves accuracy of decoupling control, but also improves the robustness of system to external disturbances and parameter variations, and can be used in high precision strong robust control for magnetically suspended control moment gyroscope.%为了克服外部扰动影响磁悬浮转子悬浮稳定度和磁悬浮控制力矩陀螺输出力矩精度的问题,提出一种基于自抗扰控制器的磁悬浮转子扰动抑制方法.根据牛顿第二定律和陀螺技术方程建立磁轴承坐标系下磁悬浮转子系统的动力学方程,基于自抗扰解耦控制原理得到径向四通道解耦模型,设计各通道自抗扰控制器,从而实现转子系统径向四通道解耦和扰动抑制.与分散 PID加交叉反馈控制方法进行仿真对比,结果表明:自抗扰控制器具有良好的扰动抑制功能,能提高转子的稳定精度和控制力矩陀螺的输出力矩精度;因此,此方法不仅改善了解耦控制精度,而且提高了系统对外部扰动和参数变化的鲁棒性,可应用于磁悬浮控制力矩陀螺的高精度强鲁棒控制.