CN110657809A - Hall sensor installation method for magnetically suspended control sensitive gyroscope - Google Patents

Hall sensor installation method for magnetically suspended control sensitive gyroscope Download PDF

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CN110657809A
CN110657809A CN201910862980.9A CN201910862980A CN110657809A CN 110657809 A CN110657809 A CN 110657809A CN 201910862980 A CN201910862980 A CN 201910862980A CN 110657809 A CN110657809 A CN 110657809A
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lorentz force
magnetic
coil
flux density
rotor
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任元
李磊
陈晓岑
王丽芬
尹増愿
李晋川
朱帅
姚义军
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Peoples Liberation Army Strategic Support Force Aerospace Engineering University
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Peoples Liberation Army Strategic Support Force Aerospace Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/0047—Housings or packaging of magnetic sensors ; Holders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
    • G01R33/07—Hall effect devices

Abstract

The invention relates to a method for installing a Hall sensor for a magnetic suspension control sensitive gyroscope, wherein the nonlinearity of the distribution of a circumferential magnetic field of a Lorentz force magnetic bearing, the relative displacement of a Lorentz coil and the circumferential magnetic field and the influence of coil exciting current on an axial magnetic field can cause the change of the magnetic flux density and the direction of the magnetic field at the position of the coil, so that the magnetic flux density deviates from a static calibration value. The invention establishes a Lorentz force magnetic bearing air gap flux density distribution error model based on flux density simulation and combined with the mechanism characteristic of a magnetic suspension control sensitive gyroscope. On the basis, a Hall sensor installation method for controlling the deflection gap of the sensitive gyroscope in a magnetic suspension mode is designed, so that the magnetic density change of the gap is detected in real time. The invention belongs to the technical field of new-concept gyro control, and can be applied to an attitude control system which uses a magnetic suspension control sensitive gyro as an attitude maneuver actuating mechanism of a spacecraft.

Description

Hall sensor installation method for magnetically suspended control sensitive gyroscope
Technical Field
The invention relates to a Hall sensor installation method for a magnetically suspended control sensitive gyroscope, which is suitable for a spacecraft attitude control system.
Technical Field
The magnetic suspension control sensitive gyroscope is a new concept gyroscope, a rotor system of the magnetic suspension control sensitive gyroscope adopts five-degree-of-freedom full-active control, has a certain small-angle micro-frame effect, and can output a larger gyroscope moment instantly to realize attitude control; unlike magnetically suspended control moment gyro, which has frame moment to indirectly drive rotor to deflect, magnetically suspended control sensitive gyro provides directly driven linear moment via Lorentz Force Magnetic Bearing (LFMB), and has no friction and delay, and is favorable to high precision and high bandwidth moment output.
When the magnetic suspension control sensitive gyroscope works under a control working condition, the nonlinearity of the LFMB circumferential magnetic field distribution, the relative displacement of the Lorentz force coil and the circumferential magnetic field and the influence of the coil exciting current on the axial magnetic field can cause the change of the magnetic flux density and the direction of the magnetic field at the position of the coil, so that the change deviates from a static calibration value, and the precision of the output control moment is influenced.
The method is based on feedback control and combines the mechanism characteristics of a magnetic suspension control sensitive gyroscope to establish an LFMB air gap flux density distribution error model; on the basis, a Hall sensor installation method for the magnetic suspension control sensitive gyroscope is designed to detect the magnetic density change of the gap in real time, so that the purpose of enabling the magnetic suspension control sensitive gyroscope to output accurate control torque is achieved.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to solve the problem that the deflection of a rotor can cause the change of the magnetic density of a gap between a stator and a rotor, thereby influencing the precision of output control moment, the installation method of the Hall sensor for the magnetically levitated control sensitive gyroscope is provided. The method detects the magnetic density change of the rotor gap in real time by installing Hall sensors on the stator bearings of the magnetic suspension control sensitive gyroscope in pairs, thereby achieving the purposes of accurately compensating control current and enabling the magnetic suspension control sensitive gyroscope to output accurate control torque.
The method specifically comprises the following steps:
(1) establishing an LFMB air gap flux density distribution error model
For the magnetic suspension control sensitive gyro rotor at the balance position, the resultant magnetic torque generated by the rotor is as follows:
Figure BDA0002200393200000021
wherein Z1Distance of coil upper end to XoY plane, Z2Distance of lower end of coil to XoY plane, Z0＝Z2-Z1Indicating the height of the Lorentz force coil in the Z direction, dZ being the selected infinitesimal along the Lorentz force coil axis, n being the number of LFMB coil turns, LrThe radius of the LFMB support frame, B (Z) the magnetic induction intensity in the Z direction, alpha the deflection angle of the rotor around the X axis, beta the deflection angle of the rotor around the Y axis, phi0For the circumferential angle, i, corresponding to a single Lorentz force coilXFor the excitation current switched in the coil in the Y direction, iYThe excitation current is switched in the Lorentz force coil in the X direction.
As can be seen from equation (1), a change in the Z-direction of the circumferential magnetic field directly causes a change in the electromagnetic torque generated by the LFMB. Due to the nonlinear distribution of the circumferential magnetic field generated by the permanent magnet in the axial direction, the mutual motion between the rotor and the Lorentz force coil and the influence of the electromagnetic field on the circumferential magnetic field under different excitation current conditions, the magnetic density at the Lorentz force coil can be changed, and therefore the actual LFMB electromagnetic moment value is in change.
(2) Deflection gap Hall sensor mounting and position determining method
When the magnetic suspension control sensitive gyroscope is in a control working condition, the Hall sensor is installed on the stator bearing more suitably because the rotor rotates at a high speed. The method for installing the Hall sensor with the magnetic density gap comprises the following steps: for a stator bearing with n pairs of lorentz force coils, the mounting system includes 4n teslameters with only high precision hall probes. Every two of 4n hall probes are a set of, and its mounted position is: in the circumferential direction, 2n groups of probes are symmetrically arranged at the middle position of the installation gap of the n Lorentz force coils. Axially, each set of probes is aligned with the respective centers of the upper and lower active portions of the lorentz force coil.
Because the Hall probe can only realize the magnetic density measurement of the point position, the magnetic density value of each point in the Z-direction height of the effective part of the Lorentz force coil can be obtained and only estimated according to the single-point measurement result of the Hall sensor. According to the magnetic flux density distribution measurement result in the Z direction of the LFMB air gap single-point position, a magnetic flux density distribution fitting equation of the upper and lower effective sections of the Lorentz force coil in the motion range can be obtained by applying a least square method, wherein the fitting equation is as follows:
B(Z)up＝AupZ2+BupZ+Cup (2)
B(Z)down＝AdownZ2+BdownZ+Cdown (3)
in the formula, B (Z)upAnd B (Z)downRespectively, the flux density distribution of the effective sections of the upper and lower parts of the Lorentz force coil at the axial position Z thereof, Aup、Bup、CupRespectively is a quadratic term coefficient, a first order coefficient and a constant term coefficient of a fitting equation of the magnetic flux density distribution of the upper part of the Lorentz force coildown、Bdown、CdowThe coefficients are respectively a quadratic term coefficient, a first order coefficient and a constant term coefficient of a Lorentz force coil lower part magnetic flux density distribution fitting equation.
(3) On the basis of LFMB air gap flux density fitting, according to the real-time flux density measurement results of the Hall sensors arranged at the left side and the right side of the effective section of the upper part and the lower part of the Lorentz force coil, the real-time axial positions of the four Hall sensors at the two sides of a single Lorentz force coil can be obtained as follows:
Figure BDA0002200393200000031
Figure BDA0002200393200000032
Figure BDA0002200393200000033
Figure BDA0002200393200000034
in the formula, zup1，zup2，zdown1，zdown2Real-time positions of the Hall sensor on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part in a rotor coordinate system are respectively set; b (Z, t)up1，B(Z,t)up2，B(Z,t)down1，B(Z,t)down2The real-time flux density measurement results of Hall sensors on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part of a single Lorentz force coil are obtained.
The principle of the invention is as follows:
(1) establishing an LFMB air gap flux density distribution error model
For the magnetically suspended control sensitive gyro rotor in balanced position, the circumferential angular micro-element d phi is selected along the circumference of Lorentz force coil, and the micro-element dZ is selected along the axial direction, so that the coil is passed through with exciting current iLThe electromagnetic force element generated in the Z-axis direction can be expressed as:
Figure BDA0002200393200000041
in the formula, Z0＝Z2-Z1Representing the height of the Lorentz force coil in the Z direction, Z1Distance of coil upper end to XoY plane, Z2Is the distance from the lower end of the coil to the plane XoY, and B (Z) is the Z directionN is the number of Lorentz force coil turns, i0Is a unit vector representing the direction of current flow, B0Is a unit vector representing the flux density direction, LrIs the Lorentz force magnetic bearing support frame radius. When the magnetically levitated control sensitive gyro rotor is deflected by an angle α around the X-axis, the unit vector of b (z) becomes:
Figure BDA0002200393200000042
at this time, the coil infinitesimal LrInfinitesimal changes in the electromagnetic force generated by d φ are:
Figure BDA0002200393200000043
and the electromagnetic torque element generated by the coil element can be expressed as:
Figure BDA0002200393200000044
and (3) integrating the formula (11) according to the circumferential angle of the Lorentz force coil, and simultaneously, assuming that the upper part and the lower part of each Lorentz force coil are completely symmetrical in structure, so that the interference moments generated by different coils are obtained as follows:
Figure BDA0002200393200000052
Figure BDA0002200393200000053
Figure BDA0002200393200000054
if the rotor is deflected by alpha around the X-axis, the coils in the Y direction are excited in the same direction and in opposite directionsExcitation current iXThe coils in the X direction are connected with currents i with equal magnitude and opposite directionsYWherein the current direction in the coil in the Y direction is positive, the current direction in the coil in the X direction is negative, and the moments are added, so that the resultant moment generated by the LFMB under the rotor deflection condition is:
if the deflection angle β of the rotor about the Y axis is also taken into account, the flux density unit direction vector at the post-deflection lorentz force coil position becomes:
Figure BDA0002200393200000062
the electromagnetic force infinitesimal and the electromagnetic moment infinitesimal generated by the coil infinitesimal are respectively:
Figure BDA0002200393200000063
Figure BDA0002200393200000064
under the assumption that the upper and lower parts of the Lorentz force coil are completely symmetrical, the circumferential angle of the Lorentz force coil is integrated according to the formula (19), and excitation currents i with equal magnitude and opposite directions are connected to the coil in the Y directionXThe coils in the X direction are connected with currents i with equal magnitude and opposite directionsYAnd the current direction in the coil in the Y direction is positive, the current direction in the coil in the X direction is negative, and the electromagnetic moments generated by the Lorentz force coils are added, so that the resultant electromagnetic moment generated by the MSCSG rotor is obtained as follows:
Figure BDA0002200393200000065
as can be seen from the equation (20), the change of the circumferential magnetic field in the Z direction directly causes the change of the electromagnetic moment generated by the LFMB; due to the fact that the non-linear distribution of the circumferential magnetic field generated by the permanent magnet in the axial direction, the mutual movement between the rotor and the Lorentz force coil and the influence of the electromagnetic field on the circumferential magnetic field under the condition of different excitation currents, the magnetic density of the LFMB Lorentz force coil can be changed, and therefore the actual LFMB electromagnetic moment value is in change.
(2) Method for mounting Hall sensor with designed deflection gap
When the magnetic suspension control sensitive gyroscope is in a control working condition, the Hall sensor is installed on the stator bearing more suitably because the rotor rotates at a high speed. The method for installing the Hall sensor with the magnetic density gap comprises the following steps: for a stator bearing with n pairs of lorentz force coils, the mounting system includes 4n teslameters with only high precision hall probes. Every two of 4n hall probes are a set of, and its mounted position is: in the circumferential direction, 2n groups of probes are symmetrically arranged at the middle position of the installation gap of the n Lorentz force coils. In the axial direction, each group of probes is respectively aligned with the centers of the upper and lower effective parts of the coil.
Because the Lorentz force coil has a certain height in the axial direction, when the gyro carrier rotates, the relative movement between the rotor of the magnetic suspension control sensitive gyro and the LFMB stator is practically limited in a specific range, and because the height of the installation position of the Hall probe is flush with the central position of the axial height of the effective part of the Lorentz force coil, the movement range of the Hall probe relative to the rotor is smaller.
When the rotor rotates at a high speed at the equilibrium position, the center position of the lower end of the coil may be expressed as [ L ] in the rotor coordinate systemi 0 znd]Wherein L isiIs the r coordinate component, z, of the central position of the lower end of the coil in the rotor coordinate systemndIs the z-coordinate component of the central position of the lower end of the coil in the rotor coordinate system. When the rotor deflects beta around the y-axis, the coil lower end center position becomes L since the coil and the gyro stator are held stationaryicosβ+zndsinβ 0–Lisinβ+zndcosβ]。
Because the Hall probe can only realize the magnetic density measurement of the point position, the magnetic density value of each point in the Z-direction height of the effective part of the Lorentz force coil can be obtained and only estimated according to the single-point measurement result of the Hall sensor. According to the magnetic flux density distribution measurement result in the Z direction of the LFMB air gap single-point position, a magnetic flux density distribution fitting equation of the upper and lower effective sections of the Lorentz force coil in the motion range can be obtained by applying a least square method, wherein the fitting equation is as follows:
B(Z)up＝AupZ2+BupZ+Cup (21)
B(Z)down＝AdownZ2+BdownZ+Cdown (22)
in the formula, B (Z)upAnd B (Z)downRespectively, the flux density distribution of the effective sections of the upper and lower parts of the Lorentz force coil at the axial position Z thereof, Aup、Bup、CupRespectively is a quadratic term coefficient, a first order coefficient and a constant term coefficient of a fitting equation of the magnetic flux density distribution of the upper part of the Lorentz force coildown、Bdown、CdowThe coefficients are respectively a quadratic term coefficient, a first order coefficient and a constant term coefficient of a Lorentz force coil lower part magnetic flux density distribution fitting equation.
(3) On the basis of LFMB air gap flux density fitting, according to the real-time flux density measurement results of the Hall sensors arranged at the left side and the right side of the effective section of the upper part and the lower part of the Lorentz force coil, the real-time axial positions of the four Hall sensors at the two sides of a single Lorentz force coil can be obtained as follows:
Figure BDA0002200393200000081
Figure BDA0002200393200000084
in the formula, zup1，zup2，zdown1，zdown2Real-time positions of the Hall sensor on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part in a rotor coordinate system are respectively set; b (Z, t)up1，B(Z,t)up2，B(Z,t)down1，B(Z,t)down2The real-time flux density measurement results of Hall sensors on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part of a single Lorentz force coil are obtained.
Compared with the prior art, the scheme of the invention has the main advantages that:
(1) the magnetic flux density between a stator and a rotor of the existing magnetic suspension control sensitive gyroscope is obtained through static calibration, however, the non-linearity of the distribution of the circumferential magnetic field of the Lorentz force magnetic bearing, the relative displacement of the Lorentz coil and the circumferential magnetic field and the influence of the excitation current of the coil on the axial magnetic field can cause the change of the magnetic flux density and the direction of the magnetic field at the position of the coil, so that the magnetic flux density deviates from the static calibration value. According to the invention, the Hall sensor is arranged in the deflection gap of the magnetic suspension control sensitive gyroscope, so that the magnetic density change of the gap can be detected in real time;
(2) simulating the magnetic densities of the stator and the rotor of the magnetic suspension control sensitive gyroscope, and establishing a Lorentz force magnetic bearing air gap magnetic density distribution error model by combining the mechanism characteristics of the magnetic suspension control sensitive gyroscope; on the basis, a formula of the axial real-time positions of four Hall sensors on two sides of a single Lorentz force coil is obtained according to the real-time magnetic flux density measurement results of the Hall sensors arranged on the left side and the right side of the effective section of the upper part and the lower part of the Lorentz force coil, and the installation accuracy of the magnetic suspension control sensitive gyro stator and rotor gap Hall sensors is improved.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a diagram of the Hall sensor mounting location for a stator bearing having 2 pairs of Lorentz force coils;
FIG. 3 is a view of the center of the lower end of the Lorentz force coil during rotor deflection;
detailed description of the preferred embodiments
The implementation object of the invention is a magnetic suspension control sensitive gyroscope, the specific implementation scheme is shown in figure 1, and the specific implementation steps are as follows:
(1) establishing an LFMB air gap flux density distribution error model
For the magnetically suspended control sensitive gyro rotor in balanced position, the circumferential angular micro-element d phi is selected along the circumference of Lorentz force coil, and the micro-element dZ is selected along the axial direction, so that the coil is passed through with exciting current iLThe electromagnetic force element generated in the Z-axis direction can be expressed as:
Figure BDA0002200393200000091
in the formula, Z0＝Z2-Z1Representing the height of the Lorentz force coil in the Z direction, Z1Distance of coil upper end to XoY plane, Z2Distance from lower end of coil to XoY plane, B (Z) magnetic induction in Z direction, n Lorentz force coil turns, i0Is a unit vector representing the direction of current flow, B0Is a unit vector representing the flux density direction, LrIs the Lorentz force magnetic bearing support frame radius. When the magnetically levitated control sensitive gyro rotor is deflected by an angle α around the X-axis, the unit vector of b (z) becomes:
Figure BDA0002200393200000101
at this time, the coil infinitesimal LrInfinitesimal changes in the electromagnetic force generated by d φ are:
and the electromagnetic torque element generated by the coil element can be expressed as:
Figure BDA0002200393200000103
integrating the circumferential angle of the (30) type coils according to the Lorentz force, and simultaneously, assuming that the upper and lower parts of each Lorentz force coil are completely symmetrical in structure, obtaining that the interference torque generated by different coils is as follows:
Figure BDA0002200393200000104
Figure BDA0002200393200000105
Figure BDA0002200393200000106
Figure BDA0002200393200000111
if the rotor deflects around the X axis by alpha, the exciting currents i with equal magnitude and opposite directions are connected to the coils in the Y directionXThe coils in the X direction are connected with currents i with equal magnitude and opposite directionsYWherein the current direction in the coil in the Y direction is positive, the current direction in the coil in the X direction is negative, and the moments are added, so that the resultant moment generated by the LFMB under the rotor deflection condition is:
Figure BDA0002200393200000112
if the deflection angle β of the rotor about the Y axis is also taken into account, the flux density unit direction vector at the post-deflection lorentz force coil position becomes:
Figure BDA0002200393200000113
the electromagnetic force infinitesimal and the electromagnetic moment infinitesimal generated by the coil infinitesimal are respectively:
Figure BDA0002200393200000114
Figure BDA0002200393200000121
under the assumption that the upper and lower parts of the Lorentz force coil are completely symmetrical, the circumferential angle of the Lorentz force coil is integrated according to the formula (38), and excitation currents i with equal magnitude and opposite directions are connected to the coil in the Y directionXThe coils in the X direction are connected with currents i with equal magnitude and opposite directionsYAnd the current direction in the coil in the Y direction is positive, the current direction in the coil in the X direction is negative, and the electromagnetic moments generated by the Lorentz force coils are added, so that the resultant electromagnetic moment generated by the MSCSG rotor is obtained as follows:
Figure BDA0002200393200000122
as can be seen from the equation (39), the change of the circumferential magnetic field in the Z direction directly causes the change of the electromagnetic moment generated by the LFMB; due to the fact that the non-linear distribution of the circumferential magnetic field generated by the permanent magnet in the axial direction, the mutual movement between the rotor and the Lorentz force coil and the influence of the electromagnetic field on the circumferential magnetic field under the condition of different excitation currents, the magnetic density of the LFMB Lorentz force coil can be changed, and therefore the actual LFMB electromagnetic moment value is in change.
(2) Method for mounting Hall sensor with designed deflection gap
When the magnetic suspension control sensitive gyroscope is in a control working condition, the Hall sensor is installed on the stator bearing more suitably because the rotor rotates at a high speed. The method for installing the Hall sensor with the magnetic density gap comprises the following steps: for a stator bearing with n pairs of lorentz force coils, the mounting system includes 4n teslameters with only high precision hall probes. Every two of 4n hall probes are a set of, and its mounted position is: in the circumferential direction, 2n groups of probes are symmetrically arranged at the middle position of the installation gap of the n Lorentz force coils. In the axial direction, each group of probes is respectively aligned with the centers of the upper and lower effective parts of the coil. Taking a stator bearing with 2 pairs of lorentz force coils as an example, the sensor mounting position is shown in fig. 2.
Because the Lorentz force coil has a certain height in the axial direction, when the gyro carrier rotates, the relative movement between the rotor of the magnetic suspension control sensitive gyro and the LFMB stator is practically limited in a specific range, and because the height of the installation position of the Hall probe is flush with the central position of the axial height of the effective part of the Lorentz force coil, the movement range of the Hall probe relative to the rotor is smaller.
When the rotor rotates at a high speed at the equilibrium position, the center position of the lower end of the coil may be expressed as [ L ] in the rotor coordinate systemi 0 znd]Wherein L isiIs the r coordinate component, z, of the central position of the lower end of the coil in the rotor coordinate systemndIs the z-coordinate component of the central position of the lower end of the coil in the rotor coordinate system. When the rotor deflects beta around the y-axis, the coil lower end center position becomes L since the coil and the gyro stator are held stationaryicosβ+zndsinβ 0–Lisinβ+zndcosβ]As shown in fig. 3.
Because the Hall probe can only realize the magnetic density measurement of the point position, the magnetic density value of each point in the Z-direction height of the effective part of the Lorentz force coil can be obtained and only estimated according to the single-point measurement result of the Hall sensor. According to the magnetic flux density distribution measurement result in the Z direction of the LFMB air gap single-point position, a magnetic flux density distribution fitting equation of the upper and lower effective sections of the Lorentz force coil in the motion range can be obtained by applying a least square method, wherein the fitting equation is as follows:
B(Z)up＝AupZ2+BupZ+Cup (40)
B(Z)down＝AdownZ2+BdownZ+Cdown (41)
in the formula, B (Z)upAnd B (Z)downRespectively, the flux density distribution of the effective sections of the upper and lower parts of the Lorentz force coil at the axial position Z thereof, Aup、Bup、CupRespectively is a quadratic term coefficient, a first order coefficient and a constant term coefficient of a fitting equation of the magnetic flux density distribution of the upper part of the Lorentz force coildown、Bdown、CdowAre respectively provided withFitting a quadratic term coefficient, a first term coefficient and a constant term coefficient of an equation for the magnetic flux density distribution of the lower part of the Lorentz force coil;
on the basis of LFMB air gap flux density fitting, according to the real-time flux density measurement results of the Hall sensors arranged at the left side and the right side of the effective section of the upper part and the lower part of the Lorentz force coil, the real-time axial positions of the four Hall sensors at the two sides of a single Lorentz force coil can be obtained as follows:
Figure BDA0002200393200000131
Figure BDA0002200393200000141
Figure BDA0002200393200000142
Figure BDA0002200393200000143
in the formula, zup1，zup2，zdown1，zdown2Real-time positions of the Hall sensor on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part in a rotor coordinate system are respectively set; b (Z, t)up1，B(Z,t)up2，B(Z,t)down1，B(Z,t)down2The real-time flux density measurement results of Hall sensors on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part of a single Lorentz force coil are obtained.
Those skilled in the art will appreciate that the details of the present invention not described in detail herein are well within the skill of those in the art.

Claims (1)

1. A Hall sensor installation method for a magnetic suspension control sensitive gyroscope is characterized by comprising the following steps: establishing a Lorentz force magnetic bearing air gap flux density distribution error model based on flux density simulation and combined with the mechanism characteristic of a magnetic suspension control sensitive gyroscope; on the basis, a Hall sensor installation method for controlling the deflection gap of the sensitive gyroscope through magnetic suspension is designed, so that the magnetic density change of the gap is detected in real time, the sensitive gyroscope through magnetic suspension can output accurate control torque, and the method specifically comprises the following steps:
(1) establishing Lorentz force magnetic bearing air gap flux density distribution error model
For the magnetic suspension control sensitive gyro rotor at the balance position, the resultant magnetic torque generated by the rotor is as follows:
Figure FDA0002200393190000011
wherein Z1Distance of coil upper end to XoY plane, Z2Distance of lower end of coil to XoY plane, Z0＝Z2-Z1Indicating the height of the Lorentz force coil in the Z direction, dZ being the selected infinitesimal along the axial direction of the Lorentz force coil, n being the number of turns of the Lorentz force magnetic bearing coil, LrThe radius of a support frame of the Lorentz force magnetic bearing, B (Z) is the magnetic induction intensity in the Z direction, alpha is the deflection angle of the rotor around the X axis, beta is the deflection angle of the rotor around the Y axis, phi0For the circumferential angle, i, corresponding to a single Lorentz force coilXFor the excitation current switched in the coil in the Y direction, iYExcitation current connected into the Lorentz force coil in the X direction;
as can be seen from the equation (1), the change of the circumferential magnetic field in the Z direction directly causes the change of the electromagnetic moment generated by the lorentz force magnetic bearing; due to the nonlinear distribution of the circumferential magnetic field generated by the permanent magnet in the axial direction, the mutual motion between the rotor and the Lorentz force coil and the influence of an electromagnetic field on the circumferential magnetic field under different excitation currents, the magnetic flux density at the Lorentz force coil can be changed, so that the actual electromagnetic moment value of the Lorentz force magnetic bearing is in change;
(2) deflection gap Hall sensor mounting and position determining method
When the magnetic suspension control sensitive gyroscope is in a control working condition, the Hall sensor is properly arranged on the stator bearing because the rotor rotates at a high speed; the method for installing the Hall sensor with the magnetic density gap comprises the following steps: for a stator bearing with n pairs of lorentz force coils, the mounting system includes 4n teslameters with only high precision hall probes; every two of 4n hall probes are a set of, and its mounted position is: in the circumferential direction, 2n groups of probes are symmetrically arranged at the middle position of the installation gap of n Lorentz force coils; in the axial direction, each group of probes is respectively aligned with the centers of the upper and lower effective parts of the Lorentz force coil;
because the Hall probe can only realize the magnetic density measurement of the point position, the magnetic density value of each point in the Z-direction height of the effective part of the Lorentz force coil can only be estimated according to the single-point measurement result of the Hall sensor; according to the Z-direction magnetic flux density distribution measurement result of the air gap single-point position of the Lorentz force magnetic bearing, a least square method is applied to obtain a magnetic flux density distribution fitting equation of the upper and lower effective sections of the Lorentz force coil in the motion range of the Lorentz force coil as follows:
B(Z)up＝AupZ2+BupZ+Cup (2)
B(Z)down＝AdownZ2+BdownZ+Cdown (3)
in the formula, B (Z)upAnd B (Z)downRespectively, the flux density distribution of the effective sections of the upper and lower parts of the Lorentz force coil at the axial position Z thereof, Aup、Bup、CupRespectively is a quadratic term coefficient, a first order coefficient and a constant term coefficient of a fitting equation of the magnetic flux density distribution of the upper part of the Lorentz force coildown、Bdown、CdowRespectively a quadratic term coefficient, a first order coefficient and a constant term coefficient of a Lorentz force coil lower part magnetic flux density distribution fitting equation;
(3) on the basis of fitting the Lorentz force magnetic bearing air gap flux density, according to the real-time flux density measurement results of the Hall sensors arranged on the left side and the right side of the effective section of the upper part and the lower part of the Lorentz force coil, the real-time axial positions of four Hall sensors on the two sides of a single Lorentz force coil can be obtained as follows:
Figure FDA0002200393190000022
Figure FDA0002200393190000023
in the formula, zup1，zup2，zdown1，zdown2Real-time positions of the Hall sensor on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part in a rotor coordinate system are respectively set; b (Z, t)up1，B(Z,t)up2，B(Z,t)down1，B(Z,t)down2The real-time flux density measurement results of Hall sensors on the left side of the upper part, the right side of the upper part, the left side of the lower part and the right side of the lower part of a single Lorentz force coil are obtained.
CN201910862980.9A 2019-09-12 2019-09-12 Hall sensor installation method for magnetically suspended control sensitive gyroscope Pending CN110657809A (en)

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