基于反馈线性化的MSCMG转子稳定控制

The stable suspension of the Magnetically Suspended Control Moment Gyro (MSCMG) rotor is the key to achieve high-precise and large-moment output for gyro. Aimed at the problems of the rotor radial tilt coupling, nonlinear parameter perturbation and moving-gimbal effects that affect the rotor stable suspension, the rotor dynamics model is established and an enhanced internal model control method based on feedback linearization is proposed. The feedback linearization method is used to decouple the radial tilt motion and linearize the rotor dynamics model. The enhanced internal model control is designed to compensate the nonlinear parameter perturbation, suppress moving-gimbal effects and improve stability of the rotor system. MATLAB simulation results show that the proposed control method can decouple rotor tilt motion completely. Compared with the PID control, the proposed method can effectively suppress the influence of parameter perturbation on rotor radial translation. For rotor radial tilt, the proposed method can effectively suppress moving-gimbal effects and improve system control precision compared with PID cross control.