针对主被动磁悬浮控制力矩陀螺(CMG)磁轴承两径向平动自由度之间存在较强耦合的问题,提出采用α阶逆系统方法对主被动磁轴承系统进行解耦控制。首先,根据主被动磁轴承的结构特点,建立了主被动磁悬浮转子径向通道平动力模型以及动力学模型;利用上述模型分析了两径向自由度之间的耦合特性,并对系统进行可逆性分析,得到了原磁轴承系统的α阶逆系统模型。然后,将原系统与α阶逆系统组合得到二阶积分线性系统,利用最优控制器实现闭环控制。最后,对本文方法进行了仿真及实验。结果表明,当x向有40 μm位移阶跃和18 μm幅值的正弦干扰时,利用本文方法可将y向位移跳动控制在PID控制方法的13.6%和17.9%,实现了主被动磁悬浮转子两径向平动通道之间的解耦控制。

As the Passive and Active Hybrid Magnetic Bearing (PAHMB) in a Magnetic Suspended Control Moment Gyroscope (MSCMG) has the dynamic model coupling between the two radial degrees of freedom (DOF), this paper proposes an α-order inverse system method to perform the decoupling control. A radial channel magnetic force model and a dynamic model for the PAHMB magnetic bearing were established based on the structure characteristics of the hybrid magnetic bear.Then,the model was used to analyze the coupling characteristic between the two radial degrees of freedom. In order to obtain the inverse system model of the PAHMB system, the reversibility of the original system was analyzed. The optimal controller was designed to stabilize the new 2-order integral system by consisting of the original system and the inverse system. Experimental results show that when the x-axis is influenced by 40 μm stepping and 18μm sine wave, the y-axis displacement with decoupling method will be controlled 13.6% and 7.9% that with PID method. These results demonstrate the effectiveness of the method above in decoupling control of the PAHMB.