磁悬浮支承的两自由度惯性稳定平台奇异非线性解耦机理研究

项目名称： 磁悬浮支承的两自由度惯性稳定平台奇异非线性解耦机理研究

项目编号： No.51505021

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 陈冬

作者单位： 北京环境特性研究所

项目金额： 20万元

中文摘要： 惯性稳定平台是在“国家高分辨率对地观测系统重大专项”和“空间技术领域”亟需发展的牵引下，实现高分辨率观测成像的关键系统。两自由度框架结构稳定平台具有结构简单紧凑的优势，是使装备轻小型化的首选方案，但是存在的机械动力学奇异非线性问题制约了该技术的进一步推广。本项目创新性的引入磁悬浮支承技术，利用磁轴承的框架微动性能，解决奇异非线性条件下的解耦控制问题，项目立足机理分析，提出了一种小型一体化环状磁轴承，建立其电磁力及运动学模型，研究了磁悬浮支承的两自由度惯性稳定平台多体动力学模型，研究了多模型切换控制器解决不同控制器结构的切换稳定性问题。最后通过实验验证机理模型参数和控制算法的有效性。通过上述研究，实现两自由度惯性稳定平台奇异非线性解耦控制，为两自由度惯性稳定平台在高分辨率观测成像系统中的应用提供技术基础。

中文关键词： 磁悬浮；惯性稳定平台；动力学稳定性控制

英文摘要： Guiding by the requirements of National major projects high-resolution earth observation system and space technology,inertial stabilization platform is the key component of the high-resolution imaging system. Stabilization platform with two DOF(degree of freedom) is the optimal scheme for equipment miniaturization due to compact frame. The singular nonlinear problem restricts the further application of the technology. Magnetic suspension supporting method is inroduced to solve the problem of singular nonlinear decoupling control, utilizing the micro-motion characteristics of magnetic bearing. Based on mechanism analysis, a small magnetic ring is proposed and the electromagnetic and dynamics models are analyzed.Multi-body dynamics model of the two DOF inertial stabilization platform with magnetic suspension supporting is established and the control method sloving the stability problem of switching controller is also studied. Finnally, the effectiveness of model parameters and control algorithm is validated by experiments. Through the above research, singular nonlinear decoupling control of two DOF inertial stabilization platform with magnetic suspension supporting is realized and this work provides technical basis in high resolution observation imaging applications.

英文关键词： magnetic suspension;inertial stabilization platform;dynamics stability control