航天器机动时DGMSCMG磁悬浮转子干扰补偿控制

双框架磁悬浮控制力矩陀螺（DGMSCMG）具有寿命长、综合效益好等突出优势，但航天器机动时，航天器及DGMSCMG内、外框架系统的转动均导致磁悬浮高速转子产生一定的耦合运动，影响磁悬浮转子系统的稳定性，同时使输出力矩精度下降，从而严重影响航天器姿态控制的精度。本文建立了基于DGMSCMG的航天器动力学模型，分析航天器、外框架、内框架、磁悬浮转子四者之间的动力学耦合关系。针对磁悬浮转子的非线性耦合干扰，提出一种基于复合控制的补偿方法，通过磁轴承产生相应的电磁力，对陀螺耦合力矩和惯性耦合力矩进行补偿控制。仿真结果表明，干扰补偿控制能有效抑制航天器及框架对磁悬浮转子的耦合干扰，也有效提高了磁悬浮转子系统的稳定性。

Disturbance Compensation Control of Magnetically Suspended Rotor of DGMSCMG during Spacecraft Attitude Maneuver

Double gimbal magnetically suspended control moment gyros (DGMSCMG) has the outstanding advantage of long life, good comprehensive benefit and so on. However, during the spacecraft attitude maneuver, the coupled motion implicated in slewing of spacecraft, inner and outer gimbals of DGMSCMG will affect the stability of magnetically suspended high-speed rotor system and decrease the accuracy of output torque. Consequently, the control accuracy of spacecraft attitude will be depressed seriously. In this paper, the dynamics model of spacecraft with DGMSCMG is set up and the cross-coupled relationship among spacecraft body, inner gimbal, outer gimbal and rotor are analyzed. Aiming at the nonlinear couplied disturbance of the magnetically suspended rotor, a compensation method based on compound control is presented, in which the corresponding electromagnetic force is produced by magnetic bearing for compensation control of rotational inertia torque and gyro torque. The simulation results indicate that the couplied disturbance of the magnetically suspended rotor caused by spacecraft, inner and outer gimbals can be effectively suppressed, and the stability of the magnetically suspended rotor system can be obviously improved by the disturbance compensation control.