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提出一种磁悬浮陀螺飞轮的设计方案,采用洛伦兹力磁轴承对陀螺飞轮转子进行五自由度支承以提供转动自由度,并利用洛伦兹力磁轴承磁力与电流的线性特性,间接测量陀螺仪的输入角速度。该装置作为姿态控制执行机构兼有敏感器功能,可同时进行三自由度姿态控制与两自由度姿态敏感。针对磁悬浮陀螺飞轮二自由度姿态敏感与三自由度姿态控制这两项关键技术进行了分析,推导了转子坐标系下磁悬浮陀螺飞轮的运动方程。提出前馈矩阵方法来补偿转子动力学耦合对输出径向二自由度控制力矩精度的影响,并对其进行了实验验证。磁悬浮陀螺飞轮可显著降低卫星姿态控制系统的体积、重量、功耗和发射成本,为中国微小卫星技术的发展从器部件层面上提供支持。
A design scheme of magnetic floating gyroscope flywheel is proposed. The gyroscope flywheel rotor is supported by five degrees of freedom with Lorentz force magnetic bearings to provide rotational freedom, and the linear characteristics of magnetic force and current of Lorentz magnetic bearing are used to indirectly measure the gyroscope Instrument input angular velocity. The device as a gesture control actuator combines both sensor functions, which can simultaneously control the attitude of three degrees of freedom and the attitude of two degrees of freedom. Aiming at the two degrees of freedom attitude control and the three degrees-of-freedom attitude control of the maglev flywheel, the two key technologies are analyzed, and the equations of motion of the maglev flywheel under the rotor coordinate system are deduced. The feedforward matrix method is proposed to compensate for the influence of the rotor dynamics coupling on the output radial two degrees of freedom control torque accuracy. The experiment is also validated. Maglev flywheel can significantly reduce the size, weight, power consumption and launch cost of the satellite attitude control system and provide support for the development of China’s micro-satellite technology at the level of slave components.