Abstract
Magnetically suspended control and sensitive gyroscope (MSCSG) with two capabilities including attitude control and attitude measurement is promising in meeting the requirements of novel spacecraft. When the momentum vector of a high-speed rotor suspended in five directions is tilted by Lorentz force-type magnetic bearing, the instantaneous large control moment is obtained. The spacecraft attitude can be sensed by a high-speed rotor without deflection interference torque. In this paper, a novel MSCSG with sphere rotor is presented, and its spherical structure and working principle are introduced. The magnetic bearing-rotor dynamic model is established based on Newton’s second law and the gyrokinetic equations. The generating mechanism of three interferences, including bearing dynamic reaction force, deflection torque, and centrifugal force, is analyzed. The feedforward compensation control against three interferences for MSCSG is adopted, and the loading sequence of three interferences is simulated. The optimal sequence of bearing dynamic reaction force, deflection torque, and centrifugal force is used. The radial and axial vibration displacement amplitudes are reduced from 20.8 μm and 31.7 μm to 9.4 μm and 14.9 μm, respectively. The experimental results are in good agreement with the simulation, which indicates the MSCSG rotor unbalance vibration is suppressed effectively by the feedforward compensation method.
Highlights
Suspended control and sensitive gyroscope (MSCSG) with two capabilities including attitude control and attitude measurement is promising in meeting the requirements of novel spacecraft
Suspended momentum and reaction flywheels were applied in the SPOT satellites provided by Alcatel Space Industries [6, 7]. e attitude control and energy storage flywheels suspended by magnetic bearings with high-speed rotors were used in the American Hubble Space Telescope [8]. e three types of inertial flywheels above are suitable for stability attitude control because of the high precision output torque [6,7,8]
When the deflection interference torque of the high-speed free suspension rotor is compensated by tilting magnetic bearings, the spacecraft attitude can be sensed by the rotor [11]. e two capabilities, attitude control and attitude measurement, are integrated in the magnetically suspended control and sensitive gyroscope (MSCSG)
Summary
Received 5 February 2020; Revised 17 September 2020; Accepted 24 October 2020; Published 6 November 2020. Betschon and Knospe and Gao, respectively, proposed an adaptive feedforward control based on gain matrix function and a variable step size least mean square feedforward compensation strategy for suppressing the high-speed rotor vibration induced by the centrifugal force [18, 19]. Zheng and Feng proposed a feedforward compensation method based on an adaptive notch filter used for suppressing the unbalance vibration of magnetically suspended compressor [21]. Tang et al and Xu et al presented two feedback control methods using general notch filter and plural notch filter for suppressing the unbalance vibration of magnetically suspended flywheel and control moment gyroscope system, respectively [22, 23]. E feedforward compensation control against three interferences, bearing dynamic reaction force, deflection torque, and centrifugal force, is proposed. Where Ks and Kw are the gains of sensor and power amplifier and KP, KI, and KD are the proportion gain, integration gain, and differential coefficients. qs xs βs ys αs zs T is the sensor coordinate. e deviation angle between the displacement sensors and radial magnetic bearing in the circumferential direction is π/4. erefore, the generalized coordinate q can be written as
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