scholarly journals Vibration Feedforward Compensation for Magnetically Suspended Control and Sensitive Gyroscope with Spherical Rotor

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Qiang Liu ◽  
Heng Li ◽  
Cong Peng ◽  
Sha Sheng ◽  
Zhaojing Yin ◽  
...  
Keyword(s):  
Centrifugal Force ◽  
Attitude Control ◽  
High Speed ◽  
Reaction Force ◽  
Magnetic Bearing ◽  
Dynamic Reaction ◽  
Optimal Sequence ◽  
Vibration Displacement ◽  
Control Moment ◽  
Working Principle

Magnetically suspended control and sensitive gyroscope (MSCSG) with two capabilities including attitude control and attitude measurement is promising in meeting the requirements of novel spacecraft. When the momentum vector of a high-speed rotor suspended in five directions is tilted by Lorentz force-type magnetic bearing, the instantaneous large control moment is obtained. The spacecraft attitude can be sensed by a high-speed rotor without deflection interference torque. In this paper, a novel MSCSG with sphere rotor is presented, and its spherical structure and working principle are introduced. The magnetic bearing-rotor dynamic model is established based on Newton’s second law and the gyrokinetic equations. The generating mechanism of three interferences, including bearing dynamic reaction force, deflection torque, and centrifugal force, is analyzed. The feedforward compensation control against three interferences for MSCSG is adopted, and the loading sequence of three interferences is simulated. The optimal sequence of bearing dynamic reaction force, deflection torque, and centrifugal force is used. The radial and axial vibration displacement amplitudes are reduced from 20.8 μm and 31.7 μm to 9.4 μm and 14.9 μm, respectively. The experimental results are in good agreement with the simulation, which indicates the MSCSG rotor unbalance vibration is suppressed effectively by the feedforward compensation method.

scholarly journals Design and validation of an MPC controller for CMG-based testbed

2021 ◽  
Author(s):  
Matteo Facchino ◽  
Atsushi Totsuka ◽  
Elisa Capello ◽  
Satoshi Satoh ◽  
Giorgio Guglieri ◽  
...  
Keyword(s):  
Predictive Control ◽  
Attitude Control ◽  
High Speed ◽  
Control Method ◽  
Input Constraints ◽  
Virtual Reference ◽  
Control Moment ◽  
Pyramidal Configuration ◽  
Actuation Systems ◽  
Constraints Satisfaction

AbstractIn the last years, Control Moment Gyros (CMGs) are widely used for high-speed attitude control, since they are able to generate larger torque compared to “classical” actuation systems, such as Reaction Wheels . This paper describes the attitude control problem of a spacecraft, using a Model Predictive Control method. The features of the considered linear MPC are: (i) a virtual reference, to guarantee input constraints satisfaction, and (ii) an integrator state as a servo compensator, to reduce the steady-state error. Moreover, the real-time implementability is investigated using an experimental testbed with four CMGs in pyramidal configuration, where the capability of attitude control and the optimization solver for embedded systems are focused on. The effectiveness and the performance of the control system are shown in both simulations and experiments.

scholarly journals The Coupling Characteristic Investigation of Double-Gimbal Magnetically Suspended Control Moment Gyro Used on Agile Maneuver Spacecraft

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Peiling Cui ◽  
Jian Cui ◽  
Qian Yang ◽  
Shiqiang Zheng
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Magnetic Bearing ◽  
Nonlinear Coupling ◽  
Spacecraft Motion ◽  
Inertial Coupling ◽  
Control Moment ◽  
Bearing Force ◽  
Coupling Characteristic ◽  
Control Moment Gyro

Double-gimbal magnetically suspended CMG is a novel attitude control actuator for the agile maneuver spacecraft. Taking the double-gimbal magnetically suspended control moment gyro used on agile maneuver spacecraft as the research object, the dynamic model of the magnetically suspended rotor, the inner gimbal, and the outer gimbal of double-gimbal magnetically suspended control moment gyro is built. The nonlinear coupling characteristic between the rotor, the gimbal, and the spacecraft is given. It can be seen that the motion of magnetically suspended rotor does not only rely on magnetic bearing force but also suffer from the influence of gimbal servo system and spacecraft motion. The coupling torque includes the gyro coupling torque and the inertial coupling torque. The work in this paper provides the foundation for further studies.

Research on method for adaptive imbalance vibration control for rotor of variable-speed mscmg with active-passive magnetic bearings

2016 ◽  
Vol 23 (2) ◽  
pp. 167-180 ◽  
Author(s):  
Peiling Cui ◽  
Jingxian He ◽  
Jiancheng Fang ◽  
Xiangbo Xu ◽  
Jian Cui ◽  
...  
Keyword(s):  
Vibration Control ◽  
Attitude Control ◽  
Control Method ◽  
Magnetic Bearing ◽  
Magnetic Bearings ◽  
System Stability ◽  
Variable Speed ◽  
Control Moment ◽  
Vibration Compensation ◽  
Main Factor

Imbalance vibration control for rotor is the main factor affecting attitude control performance for satellite using magnetically suspended control moment gyro (MSCMG). The method for adaptive imbalance vibration control for the rotor of variable-speed MSCMG with active-passive magnetic bearings is investigated in this paper. Firstly, on the basis of feedforward compensation, a rotor model for the imbalance vibration of variable-speed MSCMG with active-passive magnetic bearings is built, and the main factor affecting imbalance vibration compensation is also analyzed. Then, power amplifier parameter modifier with control switches is designed to eliminate the effects of time-varying parameters on the imbalance vibration compensation precision. The adaptive imbalance vibration control based on this modifier not only has high compensation precision, but also can control the frequency of parameter adjustment according to the compensation precision. Besides, since the passive magnetic bearing displacement stiffness of the rotor of variable-speed MSCMG with active-passive magnetic bearings cannot be obtained accurately, displacement stiffness modifier is employed. Finally, stability analysis is made on the imbalance vibration control system, and the range of rotation speed to ensure system stability is derived. Simulation results show that, imbalance vibration control method proposed in this paper can suppress the imbalance vibration of the rotor of variable-speed MSCMG with active-passive magnetic bearings effectively and has high precision.

Magnetic Bearing and its New Applications

2012 ◽  
Vol 443-444 ◽  
pp. 1050-1054
Author(s):  
Xiu Li Qi ◽  
Zhen Fu ◽  
Guang Xian Wang ◽  
Kang Zhang ◽  
Yi Chen Dong
Keyword(s):  
High Speed ◽  
High Performance ◽  
Magnetic Force ◽  
Vibration Reduction ◽  
Magnetic Bearing ◽  
Low Power Consumption ◽  
Working Principle ◽  
Electromechanical Device ◽  
Dynamic Absorber ◽  
New Applications

Magnetic bearing is a high-performance mechatronic bearing, which can suspend parts in space stably using magnetic force. Its characteristics such as high speed, high precision, and low power consumption and so on make it valuable to research and widely to apply in the future. The paper summarized the working principle of magnetic bearing and its characteristics, research and application status. Based on these, it introduced the new application such as used for vibration reduction, dynamic absorber and in mining electromechanical device in engineering field, so as to increase efficiency and save more energy.

Magnetically Suspended VSCMGs for Simultaneous Attitude Control and Power Transfer IPAC Service

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Junyoung Park ◽  
Alan Palazzolo
Keyword(s):  
Attitude Control ◽  
High Speed ◽  
System Modeling ◽  
Magnetic Bearing ◽  
Magnetic Bearings ◽  
Power Transfer ◽  
Variable Speed ◽  
Control Laws ◽  
Control Approach ◽  
Initial Attitude

This paper presents the theory and numerical results of utilizing four gimbaled, magnetically suspended, variable speed flywheels for simultaneous satellite attitude control and power transfer (charge, storage, and delivery). Previous variable speed control moment gyro models and control algorithms assumed that the flywheel bearings were rigid. However, high speed flywheels on spacecraft will be supported by active magnetic bearings, which have flexibility and in general frequency dependent characteristics. The present work provides the theory for modeling the satellite and flywheel systems including controllers for stable magnetic bearing suspension for power transfer to and from the flywheels and for attitude control of the satellite. A major reason for utilizing flexible bearings is to isolate the imbalance disturbance forces from the flywheel to the satellite. This g-jitter vibration could interfere with the operation of sensitive onboard instrumentation. A special control approach is employed for the magnetic bearings to reject the imbalance disturbances. The stability, robustness, tracking, and disturbance rejection performances of the feedback control laws are demonstrated with a satellite simulation that includes initial attitude error, system modeling error, and flywheel imbalance disturbance.

Steering law design for a magnetically suspended control and sensitive gyro cluster considering rotor tilt saturation

2018 ◽  
Vol 233 (11) ◽  
pp. 4066-4076
Author(s):  
Changfeng Xia ◽  
Yuanwen Cai ◽  
Yuan Ren
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Nonlinear Function ◽  
Magnetic Bearing ◽  
Weighting Matrix ◽  
Steering Law ◽  
Rigid Spacecraft ◽  
Working Principle ◽  
Maneuvering Spacecraft ◽  
Pseudo Inverse

To effectively reject the influence of rotor tilt saturation in a magnetically suspended control and sensitive gyro cluster, an adaptive nonlinear pseudo-inverse steering law is developed in this study. Based on the working principle of a Lorentz force magnetic bearing–rotor system in a single magnetically suspended control and sensitive gyro, the dynamical model of a rigid spacecraft equipped with a magnetically suspended control and sensitive gyro cluster is established. Because of the monotonicity and symmetric properties of the chosen nonlinear function, an adaptive nonlinear weighting matrix is incorporated with the pseudo-inverse steering law for the magnetically suspended control and sensitive gyro cluster. The steering law adjusts the weighting matrix elements according to saturation penalty functions so that the rotors generate control torques consistent with the limited rotor tilting domain. The effectiveness and superiority of this steering law are verified by numerical simulations. The simulation results demonstrate that the proposed steering law not only imposes control torques on the carrier spacecraft with three degrees of freedom but also avoids rotor tilt saturation, ensuring rapid attitude control of agile maneuvering spacecraft.

Study on Stiffness and Damping Characteristic of Hybrid Magnetic Bearing for High-Speed Electrical Machine

2011 ◽  
Vol 338 ◽  
pp. 534-538
Author(s):  
Lin Jing Xiao ◽  
Hong Chang Ding
Keyword(s):  
High Speed ◽  
Magnetic Force ◽  
Magnetic Circuit ◽  
Characteristic Curve ◽  
Magnetic Bearing ◽  
Electrical Machine ◽  
Theoretical Support ◽  
Working Principle ◽  
Stiffness And Damping ◽  
Rotor Dynamic

This paper focuses on the stiffness and damping characteristic of hybrid magnetic bearing for high-speed electrical machine. Firstly, it analyzes the structure and working principle of hybrid magnetic bearing, according to the bearing’s magnetic circuit properties, it deduces the equation of the bearing’s magnetic force with displacement and current. Then, combining with the controller parameters it deduces the stiffness and damping equation of magnetic bearing. At last it simulates the stiffness and damping characteristic curve, and the obtained simulation results can give theoretical support for rotor dynamic analysis and modal analysis.

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