磁悬浮转子状态反馈解耦自抗扰控制方法

针对磁悬浮控制敏感陀螺（MSCSG）转子偏转通道强耦合及航天器姿态测量过程中受扰失稳问题，提出了一种磁悬浮转子偏转解耦抗干扰控制方法。分析了转子两自由度偏转耦合现象，设计了基于状态反馈的解耦控制器；建立了MSCSG在姿态测量过程中航天器的姿态运动对磁悬浮转子产生的干扰力矩模型，采用自抗扰控制器（ADRC）抑制磁悬浮转子的外部干扰；对所建立的扩展状态观测器（ESO）跟踪性和系统稳定性进行了分析，通过调节ADRC中非线性状态误差反馈控制律系数，实现了系统有界输入条件下的稳定。仿真结果表明:状态反馈解耦能够实现偏转自由度的完全解耦，ESO具有良好的跟踪性能，ADRC较传统PID控制方法具有更好的抗干扰性能。 

Decoupled active disturbance rejection control method for magnetically suspended rotor based on state feedback

A decoupled anti-interference control method for rotor tilting is proposed to address the strong coupling of rotor deflection channels of magnetically suspended control and sensitive gyroscope (MSCSG), as well as disturbance instability during spacecraft attitude measurement. The coupling of rotors tilting with two degrees of freedom is analyzed, and a decoupling controller is designed based on state feedback. The MSCSG interference torque to the magnetically suspended rotor produced by attitude motions during spacecraft attitude measurement is deduced. The anti-interference control of the rotor is realized by the active disturbance rejection control (ADRC). The tracking performance and stability of the constructed extended state observer (ESO) are analyzed. The stability of the system with bounded inputs is achieved by adjusting the nonlinear state error feedback coefficients. Simulation results show that the state feedback decoupling can realize the complete decoupling of tilting freedom degrees, that ESO has good tracking performance, and that ADRC has better anti-interference performance than the traditional PID control method.