提出一种磁悬浮陀螺飞轮的设计方案,采用洛伦兹力磁轴承对陀螺飞轮转子进行五自由度支承以提供转动自由度,并利用洛伦兹力磁轴承磁力与电流的线性特性,间接测量陀螺仪的输入角速度。该装置作为姿态控制执行机构兼有敏感器功能,可同时进行三自由度姿态控制与两自由度姿态敏感。针对磁悬浮陀螺飞轮二自由度姿态敏感与三自由度姿态控制这两项关键技术进行了分析,推导了转子坐标系下磁悬浮陀螺飞轮的运动方程。提出前馈矩阵方法来补偿转子动力学耦合对输出径向二自由度控制力矩精度的影响,并对其进行了实验验证。磁悬浮陀螺飞轮可显著降低卫星姿态控制系统的体积、重量、功耗和发射成本,为中国微小卫星技术的发展从器部件层面上提供支持。
A design of the magnetically suspended gyrowheel is proposed in this paper. The rotor of the gyrowheel is supported by Lorentz force magnetic bearings in 5 degrees of freedom. The input angular rates of the device are measured indirectly by utilizing the linear characteristics between the force and the current of the bearings. This innovative device can generate attitude control torque about 3 axes while at the same time measure the spacecraft angular rates about 2 axes. The key technologies of the device are analyzed in the paper. The equation of motion in the rotor coordinates is derived, and the feed forward matrix control is proposed to eliminate the gyroscopic effect on gimbaling control. The experimental results demonstrate the effectiveness of the proposed method. The magnetically suspended gyrowheel promises to fulfill the need to lower the volume, mass, power, and launch cost, and has significant application value in small satellite technology.
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