Abstract
For a magnetically suspended flywheel (MSFW) with two degree of freedom radial magnetic bearings (2-DOF RMBs), both the Vernier-gimballing control method and the Vernier-gimballing characteristics are researched to make the spinning rotor tilt around the radial axes by a pair of 2-DOF RMBs to generate a large torque. The process of Vernier-gimballing is analyzed and the model of rotor's Vernier-gimballing is established based on the presented 2-DOF RMBs, and the gyroscopic coupling is pointed out originally as the main problem in rotor's Vernier-gimballing control. To solve this problem, the reasons of Vernier-gimballing control precision's degradation are researched and the compensation torques generated by a novel feedforward matrix (FFM) are presented considering the negative displacement–force stiffness of 2-DOF RMB. Simulations and series of experiments done on an MSFW with 50 N · m · s angular momentum indicated that this presented control method with an FFM and compensation of negative displacement–force stiffness can effectively improve the precision of rotor's Vernier-gimballing control.
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