A magnetic bearing wheel (MBW) with inclined magnetic poles has been developed. This paper deals with the dynamic interactions between a satellite and the MBW. In the MBW-satellite system, the MBW rotor is coupled with the satellite by magnetic bearing forces and torques, and there exists some possibility that the magnetic bearing controller makes the satellite nutation unstable. In this paper, the equations of motion of the MBW-satellite system are formulated by Kane’s method. Based on the stability analysis of this system, it is shown that the cross-feedback control of the rotor gimbal angle and integrator in an ordinary magnetic bearing controller are the instability factors responsible for satellite nutation. However, this nutation is stabilized with a cross-feedback control of the satellite angular rate estimated by a minimal-order observer from the magnetic bearing control torques. The effects of the disturbance feedback controller used in our study on the system stability are also considered, and the results show that the system stability is not affected by the disturbance feedback controller. 傾斜磁極磁気軸受ホイールと宇宙機とのダイナミクス干渉解析 齊藤光伯(三菱電機), 山田克彦(名古屋大学) 摘要 本論文は,傾斜磁極磁気軸受ホイールと宇宙機とのダイナミクス干渉解析について論じたものである.磁気 軸受ホイールを搭載した宇宙機システムは,磁気軸受制御力およびトルクを介して,磁気軸受ホイール・ロー タと宇宙機とが結合したシステムと見なすことができ,このとき磁気軸受制御系が宇宙機姿勢運動を不安定化 する可能性がある.本論文では,傾斜磁極磁気軸受ホイール・宇宙機系運動方程式に基づいた姿勢安定性解析 により,従来の磁気軸受制御系では,ロータ・ジンバル角度のクロスフィードバック制御と積分器の双方に起 因して,宇宙機ニューテーションが不安定化することを示す.次にこのような問題に対して,最小次元オブザ ーバによる宇宙機角速度の推定と,これをクロスフィードバックする構成を追加した新たな磁気軸受制御系を 適用することで,宇宙機ニューテーションを安定化できることを示し,さらに本構成に対して擾乱フィードバ ック制御系を追加した場合にも,系の安定性が保たれることを確認する.
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