超敏捷卫星平台磁悬浮控制力矩陀螺转子系统高动态响应控制方法及实验研究

Magnetically suspended control moment gyroscope is an ideal attitude control actuator that meets the needs of future ultra-agile satellite platforms with large torque and fast response requirements. The self-characteristics of the magnetic bearing and the multi-source coupling torque acting on the rotor system are the key factors which influence the fast response capability. In order to improve the application efficiency of the magnetically suspended control moment gyroscope in ultra-agile maneuver, it is of great and urgent significance to research the high-dynamic response control method of the magnetic bearing rotor system. In this project the research on the analysis of multi-body dynamics coupling principle and characteristic are carried out firstly. Based on the dynamic modeling of magnetic bearing and its power amplifier system, the fast parameter online identification of their key parameters are researched. Then a nonlinear robust control method for multi-input and multi-output magnetic suspended rotor system is proposed. Aiming at the multi-source coupling torque acting on the rotor system, a rotor adaptive deflection control method based on improved current-integral-feedback is proposed to overcome the static coupling torque. A control method based on dynamic current feedforward-feedback is applied to suppress the dynamic coupling torque. Finally, the experiments are designed to verify the corresponding control methods by the ground simulation platform of satellite. It can get the achievements that the necessary theoretical and technical basis are provided for our high-performance satellite platform through the research of this project!

磁悬浮控制力矩陀螺是满足未来超敏捷卫星平台大力矩快响应需求的理想姿态控制执行机构。磁轴承的自身特性和作用于转子系统的多源耦合力矩是制约其快响应能力进一步提高的关键因素，为更充分地提升磁悬浮控制力矩陀螺在超敏捷机动中的应用效能，研究磁轴承转子系统在超敏捷机动过程中的高动态响应控制方法具有十分迫切而重大的意义。本项目首先开展在轨模式下磁悬浮控制力矩陀螺多体动力学耦合机理及其特性分析研究；在对磁轴承及其功放系统动态建模的基础上，对其中的关键参数开展快速在线辨识研究，提出多输入多输出磁悬浮转子系统非线性鲁棒控制方法；针对机动时作用于转子系统的多源耦合力矩，提出一种基于改进的电流积分反馈的转子自适应偏转控制方法克服静态耦合力矩，提出一种基于动态电流前馈-反馈的补偿控制方法抑制动态耦合力矩；最后利用卫星地面试验平台进行相应的实验验证。通过本项目的研究为我国高性能卫星平台的研究提供必要的理论和技术基础！

本项目面向未来超敏捷卫星平台快速机动对姿态控制执行机构快响应大力矩输出的需求，开展针对新型姿控惯性执行机构磁悬浮控制力矩陀螺转子系统的高动态响应控制方法与试验研究。主要完成了以下研究工作：（1）建立了在轨模式下磁悬浮控制力矩陀螺多体动力学模型，开展了多体之间动力学耦合机理分析；（2）基于磁轴承及其功放系统建模和转子系统关键参数的快速在线辨识，开展了多输入多输出磁悬浮转子系统的非线性鲁棒控制方法研究；（3）基于电流积分反馈开展了静态耦合力矩作用下转子自适应偏转控制方法研究，基于转子扭转角速度和角加速度高精度滤波方法，建立了转子扭转动态力矩补偿控制架构，通过静态力矩控制和动态力矩补偿的方法开展了转子多源耦合力矩控制方法研究；（4）利用已经建成的超敏捷卫星平台地面试验系统搭建试验平台，装配四台磁悬浮控制力矩陀螺（金字塔构型），开展了超敏捷机动模式下磁悬浮控制力矩陀螺的高动态响应综合集成试验研究。从集成试验结果可知，在平台进行30°/15s的机动过程中，磁悬浮控制力矩陀螺框架角速度实际曲线很好地跟踪了指令曲线，且转子跳动量没有发生变化，这验证了本项目所提出的高动态响应控制方法的有效性。本项目的研究提高了磁悬浮控制力矩陀螺的性能，为其未来在轨超敏捷机动应用奠定了前期的理论和工程实践基础！