基于逆系统解耦的MSCSG姿态测量方法

磁悬浮控制敏感陀螺（MSCSG）是一种将姿态控制和姿态测量功能合二为一的新型陀螺，采用洛伦兹力磁轴承（LFMB）控制转子径向偏转。针对MSCSG 2个测量轴之间存在耦合的问题，提出了一种基于逆系统解耦的测量方法。首先，分析了MSCSG的结构组成，在此基础上建立了LFMB-转子系统动力学模型，推导了MSCSG陀螺进行两自由度姿态测量的工作原理；然后，分析了2个测量轴之间的耦合关系，进而提出采用逆系统对2个测量轴进行解耦。最后，对所提方法的有效性进行了仿真验证。仿真结果表明:在所提解耦方法作用下，2个测量轴之间的耦合效果得到了很好的抑制，测量精度得到了一定的提高。 

MSCSG attitude measurement method based on inverse system decoupling

Magnetically suspended control and sense gyroscope (MSCSG) is a new type of gyroscope which combines attitude control and attitude measurement functions and uses Lorentz force magnetic bearings (LFMBs) to drive the rotor to tilt. To solve the problem of coupling between two measuring axes of MSCSG, a measurement method based on inverse system decoupling is presented. First, the basic structure of MSCSG composition was analyzed. Then, the LFMB-rotor system dynamics model was established based on the basic structure of MSCSG composition. The principle of MSCSG for two-degree-of-freedom attitude measurement was deduced and the coupling between two measuring axes of MSCSG was analyzed. The inverse system is used to decouple two measuring axes of MSCSG. Finally, the effectiveness of the proposed method is verified by simulation. The simulation results show that the coupling effect between the two measuring axes of MSCSG is restrained well and the measurement accuracy is improved.