磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。

High-precision position control for MSCMG’s high-speed rotor

Nonlinear problems of magnetic force under the influence of the gyro effect and moving-gimbal effect were the main factors that decrease the position precision for the high-speed rotor of magnetically suspended control moment gyros. Therefore, the characteristics of the magnetic force of the rotor are analyzed, and a nonlinear dynamic model of the rotor system was established. A sliding mode control method based on neural network was proposed to address the problem and to improve the position precision of the rotor. A sliding mode control law was designed. The radial basis function neural network was adopted to approximate the nonlinear model, while the adaptive algorithm adopt the weights of the network according to the error as well as guarantees the stability of the system. The simulation and experimental results indicate that the proposed method improves the position precision of the rotor to 99%, and the static error is 0.000 2 mm. The sliding mode control based on neural network can achieve the high-precision position control of the rotor system.