CN109211215B - Three-degree-of-freedom flexible support rotor tilting vibration control method - Google Patents
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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Abstract
A three-degree-of-freedom flexible support rotor tilting vibration control method relates to the field of tilting vibration control of rotors. The invention aims to solve the problem of two-dimensional tilting vibration of a gyro flywheel three-degree-of-freedom flexible support rotor along the direction of an equatorial axis. The method comprises the following implementation processes: finding out a phase position which enables two-dimensional tilting vibration-frequency multiplication amplitude to be minimum under the condition that a gyro flywheel rotor operates at a constant rotating speed; finding out the phase which enables the two-dimensional tilting vibration to have the minimum frequency doubling amplitude as the phase of the correction torque corresponding to each subdivision; finding out a moment amplitude corresponding to the minimum two-dimensional tilting vibration first frequency multiplication amplitude as the amplitude of the correction moment; under the condition of closed loop of the tilting loop, correction torque is respectively applied to the x axis and the y axis, and the two-dimensional tilting vibration-frequency multiplication amplitude is compared with the two-dimensional tilting vibration-frequency multiplication amplitude when the correction torque is not applied until the tilting vibration is effectively controlled. The invention can realize effective control of the two-dimensional tilting vibration of the rotor at different rotating speeds.
Description
Technical Field
The invention relates to the field of tilt vibration control of rotors, in particular to a two-dimensional tilt vibration control method of a three-degree-of-freedom flexible support rotor.
Background
The gyro flywheel is a novel mechanism, integrates the functions of attitude control and attitude measurement, is suitable for an attitude control system of a small spacecraft, and is favorable for realizing the small mass, small volume, low cost and high integration of the spacecraft.
Different from the traditional single-degree-of-freedom rotor, the gyro flywheel adopts a flexible supporting structure, can realize the three-degree-of-freedom motion of the rotor, and can output three-axis control torque based on the momentum exchange principle by controlling the speed change and the tilting of the rotor. In an actual system, due to non-ideal factors such as non-uniform mass distribution of the rotor, processing and assembling errors and the like, high-frequency mixing vibration of the rotor along an equatorial axis and a radial direction can be caused, and the vibration can have adverse effects on the control moment output and the attitude measurement precision of the gyro flywheel. For the vibration control problem of the three-degree-of-freedom flexible support rotor, the existing documents are few. In the prior art, some algorithms are generally adopted to identify the phase and amplitude of the correction moment, so that the problems of complex calculation and large dependence on a model exist. By adopting the method, the correction torque is determined by gradually subdividing the phase and the amplitude, and the method does not depend on the realization of a complex algorithm, thereby avoiding a large number of complex operation problems and having simple operation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
the invention aims to provide a three-degree-of-freedom flexible support rotor tilting vibration control method to solve the problem of two-dimensional tilting vibration of a gyro flywheel three-degree-of-freedom flexible support rotor along the direction of an equatorial axis.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a three-degree-of-freedom flexible support rotor tilting vibration control method is characterized in that the rotor has the capability of one-dimensional movement around a polar axis and two-dimensional tilting movement around an equatorial axis, and a two-dimensional tilting angle along the direction of the equatorial axis is measured through a group of tilting sensors arranged above the upper end surface of the rotor; the torquer in the gyro flywheel system is formed by the coaction of a torquer coil and a permanent magnet arranged on the surface of the rotor, the torquer coil is formed by four rectangular coils which are orthogonally distributed along an x axis and a y axis, the four rectangular coils are uniformly distributed along the circumferential direction of the outer surface of the rotor, and the torquer is used for adjusting the size of a correction torque, so that the control of the two-dimensional tilting vibration of the rotor of the gyro flywheel system is realized; the x axis and the y axis are respectively defined on the central connecting line of the rectangular coils at two opposite positions;
the method comprises the following implementation processes:
step one, setting a gyro flywheel rotor to operate under the condition of constant rotating speed omega, and equally dividing the circumference of the rotor by N, namely, setting the phase interval as delta phi 1360 °/N; in the open loop state of the tilting loop, the moments applied to the x and y axes are respectively Tx＝T0cos(ωt+φ1i)，Ty＝T0sin(ωt+φ1i) Wherein phi1i＝i·△φ1I ═ 0,1,2,. ang, N; FFT analysis is carried out on the tilting angle signal acquired by the tilting sensor, and the phase which enables the two-dimensional tilting vibration-frequency doubling amplitude to be minimum is found, namely the phase phi of the correction momentc1(ii) a Judging by using a specified angle delta phi as a standard, and if the angle delta phi is larger than the specified angle delta phic1Less than or equal to delta phi, then phic1The final value of the correction moment phase is directly entered into the step three, otherwise, the step two is entered;
step two, in phase phic(j-1)( j 2, 3.. p.) and a certain value of delta phij＝360°/NjIs divided into 2M phases at different phases phi±jk(φ±jk＝φc(j-1)±k·△φj(ii) a j 2,3, P; k 1, 2.., M), repeating the operation of applying the torque in the first step; FFT analysis is carried out on the tilting angle signal acquired by the tilting sensor, and the phase which enables the two-dimensional tilting vibration-frequency doubling amplitude to be minimum is found and is taken as the phase phi of the correction torque corresponding to each subdivisioncjWhen Δ φcpStopping further phase subdivision when the angle is less than or equal to delta phi, and selecting the correction moment phase at the moment as the final correction moment phase, namely phic＝φcp；
Step three, in the rotor phase phicAt intervals of Delta T, q moments T of different amplitudes are applieda(a ═ 1, 2.. once, q), FFT analysis is carried out on the tilt angle signals collected by the tilt sensor, and a moment amplitude value corresponding to the minimum two-dimensional tilt vibration frequency doubling amplitude value is found and used as the amplitude value T of the correction momentc；
Step four, correcting the torque T under the condition of closed loop of the tilting loopx＝Tccos(ωt+φc)、Ty＝Tcsin(ωt+φc) Applied to x and y axes respectively, and having a frequency doubling amplitude corresponding to the two-dimensional tilting vibration without applying a correction torque
Comparing, and after applying correction torque, performing two-dimensional roll vibration-frequency multiplication amplitude
When the vehicle is in use, the tilting vibration is considered to be effectively controlled; otherwise, changing the delta phi in the step one and the delta T in the step three until the roll vibration is effectively controlled.
Further, the method further comprises: and fifthly, selecting n different rotating speeds within the range of the working rotating speed of the gyro flywheel, repeating the steps from one to four, fitting the relation between the amplitude of the correction moment and the rotating speed, determining the correction moments corresponding to the different rotating speeds and checking the correction effect.
Further, in step two, at phase phic(j-1)(j ═ 2, 3.. times.p) ofc(j-1)-△φj-1)～(φc(j-1)+△φj-1) Within a range of Δ φj＝360°/NjThe spacing of (a) divides 2M phases.
Further, the torquer is used for adjusting the magnitude of the correction torque by changing the magnitude of the coil current.
Furthermore, FFT analysis is carried out on the tilt angle signal collected by the tilt sensor, so that a frequency doubling amplitude of the tilt vibration signal is obtained.
Further, in step one, the angle Δ φ is determined with a phase accuracy that can be discerned by the torquer.
Further, in step five, the phase of the correction torque is not changed at different rotating speeds, and only the relation between the amplitude of the correction torque and the rotating speed needs to be fitted.
The invention has the following beneficial technical effects:
the method can determine the phase and amplitude of the three-degree-of-freedom flexible support rotor tilting vibration correction moment, and can realize effective control of the two-dimensional tilting vibration of the rotor at different rotating speeds by using the two-dimensional torquer configured by the system.
Taking the rotor rotation speed of 3600rpm as an example, the correction moment of the two-dimensional tilting vibration of the gyrowheel rotor obtained by the method of the invention is applied to a system, the first-frequency amplitude of the two-dimensional tilting vibration of the rotor is 0.004 degrees, and as shown in fig. 8, the first-frequency amplitude of the two-dimensional tilting vibration is less than one tenth of the first-frequency amplitude of the two-dimensional tilting vibration of 0.045 degrees when the correction moment is not applied. Therefore, the method can effectively control the two-dimensional tilting vibration of the rotor, and is beneficial to improving the three-axis moment output and the two-axis attitude measurement precision of the gyro flywheel.
Drawings
FIG. 1 is a flow chart of the present invention; (in the figure, n represents the total number of times of setting different rotation speeds ω, and r represents the r-th time)
FIG. 2 is a schematic structural diagram of a gyro flywheel; (in the figure, 1 is a rotor, 2 is a mounting position of a tilt sensor, 3 is a torquer coil, and 4 is a permanent magnet);
fig. 3 is a schematic diagram of two-time phase subdivision of a gyrorotor rotor when N is 6 and M is 3;
FIG. 4 is a graph of a simulation result of the variation relationship between the correction moment amplitude of the two-dimensional roll vibration of the gyro flywheel rotor and the rotating speed; as can be seen from the figure, the amplitude of the correction torque is in direct proportion to the rotating speed within the range of the working rotating speed of the gyro flywheel rotor;
FIG. 5 is a schematic diagram showing the relationship between the variation of the first-order frequency amplitude of the two-dimensional tilting vibration of the rotor with the phase of the correction moment, in which 6 parts of the circumference of the gyro flywheel rotor are equally divided and the moment with the same amplitude is applied every 60 degrees when the rotation speed is constant at 3600 rpm;
FIG. 6 is a schematic diagram showing the relationship between the variation of a frequency doubling amplitude of two-dimensional roll oscillation of a rotor with a correction moment phase, which is applied at an interval of 10 DEG with a phase further subdivided at a phase around 300 DEG of a gyro flywheel rotor at a constant rotation speed of 3600 rpm;
FIG. 7 is a schematic diagram showing the relationship between the first-order frequency amplitude of the two-dimensional tilting vibration of the rotor and the voltage of the torque coil when the rotation speed is constant at 3600rpm and the voltage of the torque coil is applied to the torque coil at 290-degree phase of the gyro flywheel rotor;
FIG. 8 is a comparison graph of the two-dimensional roll vibration-multiplied frequency amplitude of the rotor before and after applying the correction moment to the gyro flywheel at a constant rotation speed of 3600 rpm.
Detailed Description
The present invention is further illustrated with reference to fig. 2 to 4, and fig. 2 shows a schematic structural diagram of a gyro flywheel system, wherein the rotor has the capability of one-dimensional movement around a polar axis and two-dimensional tilting movement around an equatorial axis, and a two-dimensional tilting angle along the direction of the equatorial axis is measured by a group of tilting sensors arranged above the upper end surface of the rotor; the torquer in the gyro flywheel system is formed by the coaction of a torquer coil and a permanent magnet arranged on the surface of the rotor, the torquer coil is formed by four rectangular coils which are orthogonally distributed along an x axis and a y axis, the four rectangular coils are uniformly distributed along the circumferential direction of the outer surface of the rotor, and the torquer is used for adjusting the size of a correction torque, so that the control of the two-dimensional tilting vibration of the rotor of the gyro flywheel system is realized; the x-axis and the y-axis are respectively defined on the central connecting line of the rectangular coils at two opposite positions.
The invention relates to a vibration control method of a three-degree-of-freedom flexible support rotor, which is realized by the following steps:
step one, setting a gyro flywheel rotor to operate under the condition of constant rotating speed omega, and equally dividing the circumference of the rotor by N, namely, setting the phase interval as delta phi 1360 °/N. In the open loop state of the tilting loop, the moments applied to the x and y axes are respectively Tx＝T0cos(ωt+φ1i)，Ty＝T0sin(ωt+φ1i) Wherein phi1i＝i·△φ1I is 0,1, 2. As shown in fig. 3, a corresponding phase subdivision diagram is shown when N is 6. The tilt angle signal collected by the tilt sensor is fedFFT analysis is carried out to find out the phase which minimizes the two-dimensional tilting vibration-frequency multiplication amplitude, namely the phase phi of the correction momentc1. Using a specified angle as a standard, ifc1Less than or equal to delta phi, then phic1Namely, the final value of the correction moment phase is directly entered into the step three, otherwise, the step two is entered.
Step two, in phase phic(j-1)( j 2, 3.. multidot. p) and (d) in the same direction as the direction of the axis of the substratej＝360°/NjIs divided into 2M phases at different phases phi±jk(φ±jk＝φc(j-1)±k·△φj(ii) a j 2,3, P; k 1, 2.., M), the operation of applying torque in the first step is repeated, as shown in fig. 3, which is a schematic diagram of a second sub-divided phase corresponding to N6 and M3. FFT analysis is carried out on the tilting angle signal acquired by the tilting sensor, and the phase which enables the two-dimensional tilting vibration-frequency doubling amplitude to be minimum is found and is taken as the phase phi of the correction torque corresponding to each subdivisioncj. When Δ φcpStopping further phase subdivision when the angle is less than or equal to delta phi, and selecting the correction moment phase at the moment as the final correction moment phase, namely phic＝φcp。
Step three, in the rotor phase phicAt intervals of Delta T, q moments T of different amplitudes are applieda(a ═ 1, 2.. once, q), FFT analysis is carried out on the tilt angle signals collected by the tilt sensor, and a moment amplitude value corresponding to the minimum two-dimensional tilt vibration frequency doubling amplitude value is found and used as the amplitude value T of the correction momentc。
Step four, correcting the torque T under the condition of closed loop of the tilting loopx＝Tccos(ωt+φc)、Ty＝Tcsin(ωt+φc) Applied to x and y axes respectively, and having a frequency doubling amplitude corresponding to the two-dimensional tilting vibration without applying a correction torque
Comparing, and after applying correction torque, performing two-dimensional roll vibration-frequency multiplication amplitude
The roll vibration is considered to be effectively controlled.
And fifthly, selecting n different rotating speeds within the range of the working rotating speed of the gyro flywheel, repeating the steps from one to four, fitting the relation between the amplitude of the correction moment and the rotating speed, determining the correction moments corresponding to the different rotating speeds and checking the correction effect.
Example (b):
as shown in fig. 1 to 8, the implementation method provides a specific implementation process of two-dimensional tilt vibration control of a three-degree-of-freedom flexible support rotor-gyroscopic flywheel rotor:
setting a tilting loop to open a loop, stably operating a gyro flywheel at the rotating speed of omega 3600rpm, and equally dividing the circumference of a rotor into 6 parts, namely adjacent phase intervals of delta phi1360 °/6 ° 60 °. At different phases, control signals are applied to the rotor by a torquer, wherein the torques applied to the x and y axes are respectively Tx＝T0cos(ωt+i·△φ1)，Ty＝T0sin(ωt+i·△φ1) Wherein i is 0,1, 2. The FFT analysis of the roll angle signal collected by the roll sensor is performed to obtain a frequency doubling amplitude of the two-dimensional roll vibration as shown in fig. 5.
As can be seen from fig. 5, when the phase of the applied moment is 300 °, the amplitude of one frequency multiplication of the two-dimensional roll vibration is the smallest. At phic1Further subdividing the phase around 300 DEG, and taking the phase interval as delta phi2＝360°/6210 °, the correction moments applied on the x and y axes are Tx＝T0cos(ωt+φc1±k·△φ2)，Ty＝T0sin(ωt+φc1±k·△φ2) Wherein k is 1,2, 3. The FFT analysis of the roll angle signal collected by the roll sensor is performed to obtain a frequency doubling amplitude of the two-dimensional roll vibration as shown in fig. 6.
As can be seen from fig. 6, when the phase of the applied torque is 290 °, the first-order frequency amplitude of the two-dimensional roll vibration is the smallest, and the roll vibration is most effectively corrected. Because 36 pulses are fed back by the gyro flywheel system every rotation, the phase precision recognized by the torquer can only reach 10 degrees, and the phase can not be subdivided at the momentIdentifying the obtained phase phic2The phase phi of the correction torque is 290 DEGc。
Because the torque applied by the torque coil is in direct proportion to the voltage of the torque coil, the amplitude of the torque applied by the torquer can be changed by changing the voltage of the torque coil. At a phase phicAt 290 deg., voltages of different magnitudes are applied. At intervals of 0.5V, U represents voltages applied to x and y axesx＝m·△Ucos(ωt+φc)，Uy＝m·△Usin(ωt+φc) Wherein m is 4,5, 6. The FFT analysis of the roll angle signal collected by the roll sensor is performed to obtain a frequency doubling amplitude of the two-dimensional roll vibration as shown in fig. 7.
As can be seen from fig. 7, when the coil voltage is 5V, the first-order frequency amplitude of the two-dimensional roll vibration of the gyroglider rotor is the smallest, and the correction effect of the roll vibration is the best. Because the torque range applied by the torquer is limited, the maximum amplitude of the voltage which can be applied by the coil is 5V, and 5V is taken as the correction voltage.
Under the condition of closed loop of a tilting loop, the rotating speed of a gyrowheel rotor is set to 3600rpm, and U is applied to an x axis and a y axis respectivelyx＝5cos(ωt+290°)V，UyThe obtained one-time-doubled amplitude of the two-dimensional roll vibration is reduced from 0.045 ° before control to 0.004 ° after control at a correction voltage of 5sin (ω t +290 °) V, and the amplitude of the roll vibration control reaches 91%, as shown in fig. 8.
As can be seen from fig. 8, the present invention is a three-degree-of-freedom flexible support rotor tilt vibration control method, and the correction moment obtained by the method of the present invention is applied to a system, so that the two-dimensional tilt vibration of the rotor can be effectively controlled.
The present invention is not limited to the control of a frequency multiplication signal of two-dimensional tilting vibration of a rotor, and the control of other frequency vibration signals is also applicable, and various corresponding changes and modifications can be made by those skilled in the art according to the present invention without departing from the spirit and the essence of the present invention, and the changes and modifications are all within the protection scope of the appended claims.
Claims (7)
1. A three-degree-of-freedom flexible support rotor tilting vibration control method is characterized in that the rotor has the capability of one-dimensional movement around a polar axis and two-dimensional tilting movement around an equatorial axis, and a two-dimensional tilting angle along the direction of the equatorial axis is measured through a group of tilting sensors arranged above the upper end surface of the rotor; the torquer in the gyro flywheel system is formed by the coaction of a torquer coil and a permanent magnet arranged on the surface of the rotor, the torquer coil is formed by four rectangular coils which are orthogonally distributed along an x axis and a y axis, the four rectangular coils are uniformly distributed along the circumferential direction of the outer surface of the rotor, and the torquer is used for adjusting the size of a correction torque, so that the control of the two-dimensional tilting vibration of the rotor of the gyro flywheel system is realized; the x axis and the y axis are respectively defined on the central connecting line of the rectangular coils at two opposite positions;
the method is characterized in that: the method comprises the following implementation processes:
step one, setting a gyro flywheel rotor to operate under the condition of constant rotating speed omega, and equally dividing the circumference of the rotor by N, namely, the phase interval is delta phi1360 °/N; in the open loop state of the tilting loop, the moments applied to the x and y axes are respectively Tx＝T0cos(ωt+φ1i)，Ty＝T0sin(ωt+φ1i) Wherein phi1i＝i·Δφ1I ═ 0,1,2,. ang, N; FFT analysis is carried out on the tilting angle signal acquired by the tilting sensor, and the phase which enables the two-dimensional tilting vibration-frequency doubling amplitude to be minimum is found, namely the phase phi of the correction momentc1(ii) a The judgment is carried out by taking a specified angle delta phi as a standard, and if the angle delta phi is larger than the specified angle delta phic1Less than or equal to delta phi, then phic1The final value of the correction moment phase is directly entered into the step three, otherwise, the step two is entered;
step two, in phase phic(j-1In the vicinity of (1) by [ Delta ] [ phi ]j＝360°/NjIs divided into 2M phases at different phases phi±jkPhi is located at±jk＝φc(j-1)±k·Δφj(ii) a j 2,3, P; k 1, 2.., M, repeating the operation of applying the torque in the first step; FFT analysis is carried out on the tilt angle signal collected by the tilt sensor to find out the phase position which enables the two-dimensional tilt vibration to have the minimum frequency doubling amplitude,phase phi as correction torque for each subdivisioncjWhen is equal to Δ φcpStopping further phase subdivision when the phase is less than or equal to delta phi, and selecting the correction moment phase at the moment as the final correction moment phase, namely phic＝φcp；
Step three, in the rotor phase phicAt intervals of Δ T, q moments T of different magnitudes are appliedaAnd a, 1,2, a, q, performing FFT analysis on the tilt angle signal acquired by the tilt sensor, finding out a moment amplitude corresponding to the minimum two-dimensional tilt vibration frequency doubling amplitude, and using the moment amplitude as the amplitude T of the correction momentc；
Step four, correcting the torque T under the condition of closed loop of the tilting loopx＝Tccos(ωt+φc)、Ty＝Tcsin(ωt+φc) Applied to x and y axes respectively, and having a frequency doubling amplitude corresponding to the two-dimensional tilting vibration without applying a correction torque
Comparing, and after applying correction torque, performing two-dimensional roll vibration-frequency multiplication amplitude
When the vehicle is in use, the tilting vibration is considered to be effectively controlled; otherwise, changing the delta phi in the step one and the delta T in the step three until the roll vibration is effectively controlled.
2. The method for controlling the tilting vibration of a three-degree-of-freedom flexibly supported rotor according to claim 1, further comprising the steps of:
and fifthly, selecting n different rotating speeds within the range of the working rotating speed of the gyro flywheel, repeating the steps from one to four, fitting the relation between the amplitude of the correction moment and the rotating speed, determining the correction moments corresponding to the different rotating speeds and checking the correction effect.
3. The method for controlling the tilting vibration of a three-degree-of-freedom flexibly supported rotor according to claim 1 or 2, wherein the method comprises the steps ofIn the second step, in the phase phic(j-1)Phi (f) ofc(j-1)-Δφj-1)～(φc(j-1)+Δφj-1) Within a range of Δ φj＝360°/NjThe spacing of (a) divides 2M phases.
4. The method for controlling the tilting vibration of the three-degree-of-freedom flexible support rotor of claim 3, wherein the torquer is used for adjusting the magnitude of the correction torque by changing the magnitude of the coil current.
5. The three-degree-of-freedom flexible support rotor tilting vibration control method according to claim 4, characterized in that the FFT analysis is performed on the tilting angle signal collected by the tilting sensor to obtain a frequency doubling amplitude of the tilting vibration signal.
6. The method for controlling the tilting vibration of a three-degree-of-freedom flexibly supported rotor according to claim 5, wherein in the step one, the angle Δ φ is determined according to the phase precision recognized by a torquer.
7. The method for controlling the tilting vibration of the three-degree-of-freedom flexible support rotor according to claim 2, wherein in the fifth step, the phase of the correction torque is not changed at different rotating speeds, and only the relationship between the magnitude of the correction torque and the rotating speed needs to be fitted.
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