基于双频Bode图的磁悬浮控制力矩陀螺转子弹性自激振动抑制用陷波器设计

由于强陀螺效应和控制系统的高频滞后，磁悬浮控制力矩陀螺转子存在高频弹性自激振动，需要采用陷波器（Notch Filter－NF）进行相位校正和抑制，但是目前仍然缺乏有效的NF参数设计方法。本文提出一种基于双频Bode图的NF参数设计方法，采用双频Bode图分析转子弹性模态稳定性，得出不同转子转速下对NF相位校正角的要求，然后在保证转子章动稳定性的前提下优化设计NF参数。采用该方法设计的NF有效抑制了转子的弹性自激振动，使所研制的磁悬浮控制力矩陀螺稳定升速到20000r/min，验证了该方法的实用性和有效性。

Design of magnetically suspended elastic rotor notch filter based on two-frequency Bode diagram

In control moment gyroscope (CMG) based on magnetically suspended rotor, owing to wide controller bandwidth required by nutation stability at high rotational speed, bending mode between disk and axis of rotor with I-shaped configuration becomes unstable and turns into self-exciting vibration within the range of rotor speed. This elastic vibration can be depressed through adopting notch filter (NF) in original controller of active magnetic bearing (AMB), but NF design is still an issue since high-speed flat rotor features strong gyroscopic effect and coupling radial motions. An illustrative and robust method based on two-frequency Bode diagram to design NF parameters. By introducing two-frequency Bode diagram, stability of elastic modes are analyzed, correction angle requirements of bending mode at various rotor speeds are summarized, and NF parameters including grade, center frequency and pole damping are designed optimally to minimize influence to nutation stability. Employing the optimized notch filter, elastic vibration amplitude of statically suspended rotor of magnetically suspended CMG was attenuated significantly comparing to original and the rotor is robustly stabilized within entire speed range up to 20000r/min.