磁悬浮控制力矩陀螺高速转子高频自激振动的抑制

磁悬浮控制力矩陀螺（CMG）中转子一阶弹性模态自激振动是影响磁悬浮高速转子系统稳定性的关键因素之一.自激振动通常可以采用陷波器（NF）进行抑制,然而引入NF或改变其参数以及转子转速的变化均会改变模态自激频率,因而难以直接准确地确定NF参数.本文提出一种仿真确定NF参数的方法,通过转子弹性模态缩减建模和模态参数确定得到准确的弹性转子动力学模型,进而采用闭环仿真优化确定NF中心频率和极点阻尼.采用该方法设计的NF有效抑制了转子的高频弹性模态自激振动,使得磁悬浮CMG转子可以稳定升速到24000r/min.实验结果验证了该方法的实用性和有效性.

Self-Excited Vibration Depression of High-Speed Rotor in Magnetically Suspended Control Moment Gyroscope

In magnetically suspended control moment gyroscope(CMG),self-excited vibration of high-speed rotor is one of principal factor which effects stability of active magnetic bearing(AMB) system.This vibration can be depressed by means of inserting notch filter(NF) into AMB controller,but it is very difficult to decide NF parameters since vibration frequency is also changed by NF insertion or variety of NF parameter and rotor speed.This paper proposed a new method based on precisely modeling flexible mode of rotor and close-loop simulation to optimize NF center frequency and to determine damp span of NF poles.To achieve this purpose,it is necessary to reduce flexible modes,only the first order one remained,so that all parameters corresponding to flexible mode can be fit precisely using experimental data from statically suspended rotor.With this model based on precise parameters,frequency and stability of flexible mode in the magnetically suspended rotor were simulated and suboptimum center frequency and damp span of NF was selected.Notch-filter with this center frequency was utilized in a magnetically suspended CMG rotor,which achieved 24000r/min without any self-excited vibration.Effectiveness of the proposed method is verified through simulations and experiments.