关键词: 磁轴承, 动框架效应, 动力学耦合, 复合控制, 双框架控制力矩陀螺, 陀螺效应, 线性化

Abstract: Double gimbal magnetically suspended control moment gyroscope (DGMSCMG) is made up of magnetically suspended high-speed rotor system, inner and outer gimbal rate-servo system, and serves as novel attitude control actuator of spacecraft. Owing to nonlinearity and strong couple of three subsystems, rotor axis run-out will grow significantly to reduce system stability severely and response speed goes lower when gimbal revolving, which is called moving-gimbal effects. The effects influence DGMSCMG function severely and must be depressed. Based on DGMSCMG dynamic model set up in this paper and couple mechanism analysis, a novel compensation method based on compound control is presented, which introduces feedback of gyro item and feedforward of preset gimbal rate to depress additional displacement of rotor and raise response speed of gimbal, and system global stability is analyzed. Results of simulation and experiment show that the proposed method can depress moving-gimbal effects effectively to satisfy DGMSCMG requirement besides remaining stability.

Key words: Compound control, Double gimbal magnetically suspended control moment gyroscope, Dynamic coupling, Gyroscope effect, Linearization, Magnetic bearing, Moving-gimbal effects