The magnetically suspended rotor (MSR) in a double-gimbal magnetically suspended control moment gyro (DGMSCMG) is a complicated system with multivariable, nonlinearity, and strong coupling. Not only the torsional motion of the MSR is coupled depend on the rotating speed but also its translational and torsional motions at the same axis are coupled due to the asymmetric position stiffness of magnetic bearings. Besides, the MSR also encounters the nonlinear coupling torque due to gimbals' movements. These problems influence the control accuracy of the MSR. To resolve these issues, this work presents a high-precision control strategy. A compensation method for asymmetric position stiffness is proposed to realize separation between the translational and torsional motions. Then the integral sliding mode control based on motion separation (MSISMC) is employed to stabilize the translational and torsional dynamics. To suppress the coupling torque from gimbals' movements, a novel switching function considering the estimation of the coupling torque is designed in torsional controller, and the decoupling control for the torsional motion is implemented by pole assignments. The stability of the closed-loop MSR control system is analyzed by the Lyapunov and state space methods. Comparative simulations and experiments verify the effectiveness and superiority of the proposed control strategy.
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July 2015
Research-Article
High-Precision Control for Magnetically Suspended Rotor of a DGMSCMG Based on Motion Separation
Jinjin Xie,
Jinjin Xie
1
Science and Technology on Inertial Laboratory,
e-mail: xiejin1002@163.com
Beihang University
,New Main Building B606
,Xueyuan Road
,Beijing 100191
, China
e-mail: xiejin1002@163.com
1Corresponding author.
Search for other works by this author on:
Gang Liu,
Gang Liu
Professor
Science and Technology on Inertial Laboratory,
e-mail: lgang@buaa.edu.cn
Science and Technology on Inertial Laboratory,
Beihang University
,New Main Building B607
,Xueyuan Road
,Beijing 100191
, China
e-mail: lgang@buaa.edu.cn
Search for other works by this author on:
Hu Liu
Hu Liu
Science and Technology on Inertial Laboratory,
e-mail: liuhu99@buaa.edu.cn
Beihang University
,New Main Building B607
,Xueyuan Road
,Beijing 100191
, China
e-mail: liuhu99@buaa.edu.cn
Search for other works by this author on:
Jinjin Xie
Science and Technology on Inertial Laboratory,
e-mail: xiejin1002@163.com
Beihang University
,New Main Building B606
,Xueyuan Road
,Beijing 100191
, China
e-mail: xiejin1002@163.com
Gang Liu
Professor
Science and Technology on Inertial Laboratory,
e-mail: lgang@buaa.edu.cn
Science and Technology on Inertial Laboratory,
Beihang University
,New Main Building B607
,Xueyuan Road
,Beijing 100191
, China
e-mail: lgang@buaa.edu.cn
Hu Liu
Science and Technology on Inertial Laboratory,
e-mail: liuhu99@buaa.edu.cn
Beihang University
,New Main Building B607
,Xueyuan Road
,Beijing 100191
, China
e-mail: liuhu99@buaa.edu.cn
1Corresponding author.
Contributed by the Structures and Dynamics Committee of ASME for publication in the JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER. Manuscript received September 22, 2014; final manuscript received November 10, 2014; published online December 30, 2014. Editor: David Wisler.
J. Eng. Gas Turbines Power. Jul 2015, 137(7): 072504 (10 pages)
Published Online: July 1, 2015
Article history
Received:
September 22, 2014
Revision Received:
November 10, 2014
Online:
December 30, 2014
Citation
Xie, J., Liu, G., and Liu, H. (July 1, 2015). "High-Precision Control for Magnetically Suspended Rotor of a DGMSCMG Based on Motion Separation." ASME. J. Eng. Gas Turbines Power. July 2015; 137(7): 072504. https://doi.org/10.1115/1.4029205
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