LAUSR

The stable control of the active magnetic bearing rotor (AMB-rotor) system is the key technology for a magnetically suspended control moment gyroscope, which is used in the spacecraft attitude control system. The nutation and precession instability caused by strong gyroscopic effects is the principal issue of the AMB-rotor system. In order to solve the gyroscopic effects problem, in this article, a state-space model of the radial four-degree-of-freedom AMB-rotor system is established, and the strong gyroscopic effects term varying with the rotor speed is regarded as a bounded perturbation. The regional pole assignment method of an uncertain system is used to design a robust controller to maintain the system stability over the full rotor speed range. However, the controller designed by the regional pole assignment method does not consider the influence of closed-loop stiffness of the magnetic bearing, which will lead to the start-up oscillation and structural mode self-excited oscillation problems. Therefore, on the basis of the regional pole assignment, the system stiffness is further constrained and a robust controller is solved. Experiments show that the designed controller can not only deal with the start-up oscillation and the structural modal vibration problems, but also can achieve the stable control of the nutation and precession.