基于扰动观测器的磁悬浮控制力矩陀螺磁轴承动框架扰动补偿方法研究

项目名称： 基于扰动观测器的磁悬浮控制力矩陀螺磁轴承动框架扰动补偿方法研究

项目编号： No.61503015

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 刘虎

作者单位： 北京航空航天大学

项目金额： 19万元

中文摘要： 由于磁轴承的支承刚度和控制回路带宽有限，动框架效应引起的扰动严重影响磁悬浮控制力矩陀螺输出的姿态控制力矩的控制精度。由于实际应用条件下框架运动和星体姿态运动信息无法实时、完整、精确地获得，研究不依赖框架转动和星体姿态信息的磁轴承动框架扰动补偿方法非常迫切。基于扰动观测器的磁悬浮控制力矩陀螺磁轴承动框架扰动补偿方法不依赖前馈信息，目前的研究仍然属于空白。本项目拟开展如下研究工作：（1）采用基于神经网络方法建立动框架扰动下磁轴承磁力 的高精度非线性模型；（2）多源扰动下基于一类非线性扰动观测器的动框架扰动估计；（3）根据磁轴承系统多源扰动的特点，通过滑模变结构控制器和扰动观测器的复合控制器实现动框 架扰动的补偿和磁轴承高精度位置跟踪控制。（4）对磁轴承动框架扰动控制方法进行实验验证。拟通过本项目的研究，解决基于扰动观测器的磁悬浮控制力矩陀螺磁轴承动框架扰动补偿相关理论问题。

中文关键词： 磁悬浮控制力矩陀螺；磁轴承；扰动抑制方法；扰动观测器

英文摘要： Disturbance caused by moving-gimbal effects deteriorates the precision of magnetic bearing of magnetically suspended control moment gyroscope(CMG) due to the finite stiffness of magnetc bearings. The application of angular rate feedforward method is restricted because of its character of depending on the accurate moving information of gimbal. Disturbance observer based control（DOBC）has the advantage of not depending on the feedforward information, however it is still a blank that the research on application of DOBC in magneitc bearing used for moving-gimbal effects   compensation. The project plans to carry out the following researches:(1) The high precision nonliear magnetic force model will be established base on neural network system identification method. (2) Moving-gimble disturbance is constructed using a nonliear disturbance observer considering multi source disturbance. (3) High precision and high robust control method of magnetic bearing under parameter uncertainty and multi-source disturbance drive will be researched. According to the characters of multi-source disturbance, composite DOBC and slide mode control method is used to cope with disturbance cause by moving-gimbal effects and reliaze precision control of magnetic bearing.(4) Experiments will be carried out to verify the efficiency of the proposed DOBC method. Based on the above research, moving-gimbal effects precise compensation for magnetic bearing of magnetically suspended CMG based on disturbance observer will is realized, which will lay a foundation of the application of magnetically suspended CMG.

英文关键词： magnetically suspended control moment gyroscope;magnetic bearing;disturbance rejection method;disturbance observer