磁悬浮飞轮低阶变增益鲁棒控制器设计

介绍了一种能在大转速范围内有效抑制章动，同时克服高频噪声干扰的鲁棒控制方法。该方法利用零极点对造成的相位突变提供章动阻尼，用低通滤波器降低高频增益，通过一种变增益方法使转子在整个转速范围内稳定，并且其鲁棒性可由μ分析方法进行检验。仿真结果表明，此方法能有效解决转子章动问题，是一种容易实现的低阶变增益鲁棒控制方法。

LOW ORDER GAIN SCHEDULE ROBUST CONTROLLER DESIGN OF A MAGNETIC-BEARING-SUPPORTED FLYWHEEL

A gain schedule robust controller with a low order is introduced. It can restrain the nutation of the rotor in a large speed range without increasing the high-frequency gain of the controller and guarantee the robust performance of the system. The nutation damping comes from a phase jump caused by a zero-pole pair and the high-frequency gain of the controller decreases with a low-pass filter inserted. With the controller parameters changing on line according to the rotational speed, the gain schedule of the controller is achieved and the robust performance of the system is verified by μ analysis method. Simulation results show that the low order gain schedule robust control method can restrain the nutation in the whole speed range and it is easy to be used.