A phase-leading compensation method used to control nutation of magnetically suspended rotor in control moment gyroscope

摘要

Referring to rigid rotor with remarkable gyroscopic effect, nutation at high rotational speed is unstable if phase lag exists in decentralized controller of magnetic bearing system. Based on radial kinematic model of the rotor and root-locus, this paper analyzes the relation between nutation stability and system phase lag. Then a simple phase-leading compensation method based on nutation track prediction is proposed. Simulations and experiments show this method can compensate phase lag with regard to nutation control and thus can improve system stability effectively