星载磁悬浮高速旋转机械多谐波振动力和力矩的主动抑制研究

High-resolution observation is an important development trend of satellites. The multiple harmonic vibration force and torque generated by the high-speed satellite-based rotating machinery are key factors that prevent the camera from having high resolutions. An active suppression approach of the harmonic force and torque is studied in the magnetically suspended rotating machine with static, dynamic rotor imbalances and sensor runout. Firstly, the dynamics of the rotor’s geometric, inertial and rotational axes are explored at the steady state of the synchronous current reduction strategy, through which the relationship of magnetic bearing force, displacement and current is simplified. Then, an identification algorithm of the static, dynamic rotor imbalances and the sensor runout based on Kalman filter is designed. Next, to improve the tracking performance of the imbalance compensation reference with parameter perturbation of the power amplifier and to attenuate the equivalent harmonic disturbances resulting from the sensor runout, a hybrid double closed-loop algorithm of complex-variable phase-shift repetitive control and mixed-sensitivity H∞ control is proposed. Furthermore, its robust stability and convergence property are also analyzed in the 4-degrees-of-freedom dynamic-coupling non-minimum-phase radial magnetic bearing system. Finally, simulations and experiments will be carried out to verify the practicability and validity of the proposed methods. Through above research, not only can the static, dynamic rotor imbalances and sensor runout be precisely identified, but also the multiple harmonic force and torque of the magnetically suspended satellite-based rotating machinery can be well suppressed. This work can satisfy the high-resolution observation requirement for an extremely high-stability satellite platform, and promote the development of the aerospace science and technology.

高分辨率观测是卫星发展的重要方向，星载高速旋转机械的多谐波振动力和力矩是制约相机分辨率提高的重要因素。本项目针对含转子静、动不平衡和位移传感器跳动的磁悬浮旋转机械多谐波力和力矩的主动抑制问题，通过同频电流抑制算法简化轴承力-位移-电流关系，探索转子几何轴、惯性轴和旋转轴的动力学特性，设计基于卡尔曼滤波的转子静、动不平衡和位移传感器跳动辨识算法；为增强功放参数摄动下转子不平衡补偿指令的跟踪性能并抑制位移传感器跳动引起的等效谐波扰动，研究一种复变量相移重复控制与混合灵敏度H∞控制的双闭环复合算法，分析该算法应用于径向四自由度动力学耦合的非最小相位磁轴承系统的鲁棒稳定性和收敛性能；最后进行仿真实验研究，验证所提算法的实用性和有效性。通过上述研究，精确辨识转子静、动不平衡和位移传感器跳动，有效抑制星载磁悬浮旋转机械的多谐波振动力和力矩，满足高分辨率观测对超稳定卫星平台的需求，促进航天科技的发展。

飞轮和控制力矩陀螺是卫星重要的姿态执行机构。其高速旋转时产生的多谐波振动力和力矩是卫星平台的主要扰动源，成为制约卫星相机分辨率提高的重要因素。磁轴承具有高转速、主动可控等优点，成为多谐波振动抑制的理想选择。本课题基于多谐波振动力和力矩作用机理分析与主动抑制算法设计，可有效抑制卫星平台的振动水平，满足高分辨率观测对超稳定平台的需求。近3年来的主要研究内容如下：.（1）建立了基于转子静不平衡、动不平衡和位移传感器跳动的磁悬浮转子系统数学模型，分析了多谐波振动力和力矩的作用机理；基于重复控制与积分正反馈组合的内模控制器，消除磁悬浮转子系统的谐波电流和偏置电流，简化轴承力-位移和电流关系，使转子旋转轴、几何轴和惯性轴三轴仅受位移刚度制约，辨识出转子不平衡与位移传感器跳动；.（2）根据转动的幅值和相位特性，将四自由度转动描述为两解耦的复数运动，提出一种基于复数域重复控制与陷波器的多谐波振动力和力矩的主动振动抑制方法，陷波器辨识转子不平衡并根据轴承力模型构建前馈控制量，作为重复控制器的输入，重复控制器抑制位移传感器跳动，并跟踪前馈，降低功放建模误差引起的同频位移刚度补偿误差，采用重构谱理论分析了系统的稳定性；.（3）针对功放系统参数摄动和温度变化引起的同频振动补偿误差，设计了经典自适应和幅值相位解耦自适应两种控制算法，并比较了收敛时间、精度和计算量；为提高高阶次谐波的抑制性能，设计了一种改进的重复控制器，将低通滤波器移出内部时延环，并通过奈奎斯特判据分析了时延系统的稳定型；.（4）进行仿真和实验研究，实验结果表明，同频、三倍频和五倍频振动可减少32.1、23.1和18.5 dB，验证了所提算法的有效性和实用性。.基于上述研究内容，本课题组共计发表/录用论文11篇，（5篇SCI，4篇EI），授权发明专利3项、软件著作权2项，晋升副高2名，培养研究生4名。超额完成既定任务。