Abstract: To solve the high-speed rotor suspension precision problem caused by quick maneuvering of double gimbal magnetically suspended control moment gyro, the nonlinear coupling characteristics among inner gimbal, outer gimbal and magnetically suspended high-speed rotor are investigated. The dynamic model of the high-speed rotor with the rotation of inner and outer gimbals is set up. The rotational inertia torque and gyroscopic torque are involved in this model. Because of the uncertain disturbances and noise existing in the measurement of gimbal angular acceleration which is used as the variable of the rotational inertia torque, angular acceleration estimations of inner and outer gimbals are carried out by using robust H filtering method. According to the torque compensation control strategy, the drive coil of magnetic bearing control system is used to produce corresponding electromagnetic force for compensation control of rotational inertia torque and gyroscopic torque. Experimental results show that the H has good robustness to the noise uncertainty, and the runout of magnetically suspended high-speed rotor is reduced to within 30% of that before compensation, thus improving the stability of magnetic suspension system, the suspension precision and the torque output characteristic of control moment gyroscope.

Key words: Angular acceleration, Control moment gyroscope, Magnetic bearing, Robust Hfiltering