磁悬浮反作用飞轮速率模式非线性协同控制方法

 为了改善磁悬浮反作用飞轮制动过程的动态性能和转速过零特性，提高飞轮的输出力矩精度，提出一种磁悬浮反作用飞轮速率模式非线性协同控制方法。首先建立包含电机和功率变换器的飞轮系统状态空间平均模型，然后基于飞轮系统的状态空间平均模型设计了加速和制动运行的协同控制律，并对控制律中的不确定扰动力矩项进行符号化处理，以提高控制系统抑制力矩扰动的动态响应速度。仿真和实验结果表明，该控制方法改善了转速过零特性，增强了飞轮对随机力矩扰动的鲁棒性，提高了制动控制的准确性，飞轮输出力矩精度达到6.2×10^-4N·m。

Speed Mode Nonlinear Synergetic Control Approach for Magnetically Suspended Reaction Wheel

In order to enhance the dynamic performance of the magnetically suspended reaction wheel (MSRW) in the braking process, improve its cross-zero speed characteristics and output moment precision, a nonlinear synergetic control approach for speed mode operation is presented. First, state-space average models of a flywheel system including the motor and the power converter are established. Then, a nonlinear synergetic control law for the system’s acceleration and braking operation is designed, and uncertain disturbing moment items are symbolized to improve the dynamic response of the disturbance torque restraint of the control system. Simulation and experimental results show that the approach can improve the cross-zero speed performance of flywheel systems, enhance the robustness of the flywheel against random disturbing moments, and improve braking control precision. The output moment precision of the flywheel reaches up to 6.2×10^-4N·m.