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Research Papers

MIMO Active Vibration Control of Magnetically Suspended Flywheels for Satellite IPAC Service

[+] Author and Article Information
Junyoung Park, Alan Palazzolo

Vibration Control and Electromechanical Laboratory, Department of Mechanical Engineering, MS 3123, Texas A&M University, College Station, TX 77843-3123

Raymond Beach

Power Technology Division, NASA Glenn, Cleveland, OH 44135

J. Dyn. Sys., Meas., Control 130(4), 041005 (Jun 05, 2008) (22 pages) doi:10.1115/1.2936846 History: Received January 09, 2007; Revised December 20, 2007; Published June 05, 2008

Theory and simulation results have demonstrated that four, variable speed flywheels could potentially provide the energy storage and attitude control functions of existing batteries and control moment gyros on a satellite. Past modeling and control algorithms were based on the assumption of rigidity in the flywheel’s bearings and the satellite structure. This paper provides simulation results and theory, which eliminates this assumption utilizing control algorithms for active vibration control (AVC), flywheel shaft levitation, and integrated power transfer and attitude control (IPAC), that are effective even with low stiffness active magnetic bearings (AMBs) and flexible satellite appendages. The flywheel AVC and levitation tasks are provided by a multiple input–multiple output control law that enhances stability by reducing the dependence of the forward and backward gyroscopic poles with changes in flywheel speed. The control law is shown to be effective even for (1) large polar to transverse inertia ratios, which increases the stored energy density while causing the poles to become more speed dependent, and for (2) low bandwidth controllers shaped to suppress high frequency noise. Passive vibration dampers are designed to reduce the vibrations of flexible appendages of the satellite. Notch, low-pass, and bandpass filters are implemented in the AMB system to reduce and cancel high frequency, dynamic bearing forces and motor torques due to flywheel mass imbalance. Successful IPAC simulation results are presented with a 12% initial attitude error, large polar to transverse inertia ratio (IPIT), structural flexibility, and unbalance mass disturbance.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 17

Satellite reference motion

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Figure 18

Satellite motions including flexibility and MB suspension system

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Figure 19

Satellite error motions

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Figure 20

Torques applied to the satellite

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Figure 15

Tetrahedral array of flywheels attached to the satellite

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Figure 16

Flexible appendage model consisting of beam type elements

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Figure 21

Displacements of flywheels at sensor position with SISO

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Figure 1

System model including the satellite body, flexible appendages, and four flywheel arrays

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Figure 2

Inertial, satellite, housing, flywheel, and appendage coordinate systems

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Figure 3

Nodal DOFs for a 3D beam type finite element

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Figure 4

MB suspension system feedback control diagram for MIMO (Gyro)

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Figure 5

Flywheel system with a MB suspension

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Figure 6

Position sensor output voltages

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Figure 7

Motion coordinates transformation

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C-core electromagnet and rotor lamination stack

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Figure 9

Force-moment transformation diagram

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Figure 10

Unity gain PD transfer function stage

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Figure 11

MIMO-Gyro PD gain diagram

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Figure 12

Diagrams for output coordinate transformation

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Figure 14

Filtering employed in the AMB control to attenuate the forces at the spin frequency

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Figure 29

Attitude control torque and power charging torque without VCM

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Figure 30

Attitude control torque and power charging torque with VCM (1.35kg)

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Figure 22

Displacements of flywheels at sensor position with MIMO

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Figure 24

MB forces at each module (MIMO)

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Figure 25

Coil voltage with SISO

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Figure 26

Coil voltage with MIMO

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Figure 28

Flywheel motion with VCM (1.35kg)

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Figure 39

Forces and motor torques with notch filter

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Figure 40

Forces and motor torques with notch and bandpass filter

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Figure 42

CG and MB coordinates.

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Figure 31

Power charging response without VCM

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Figure 23

MB forces at each module (SISO)

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Figure 32

Power charging response with VCM (1.35kg)

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Figure 33

Power transfer without VCM

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Figure 34

Power transfer with VCM (1.35kg)

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Figure 35

Vibration along appendage during IPAC without VCM

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Figure 27

Flywheel motion without VCM

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Figure 36

Vibration along appendage during IPAC with VCM (1.35kg)

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Figure 37

Maximum power ripple and relative stroke of appendage versus VCM

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Figure 38

Forces and motor torques without notch and bandpass filter

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Figure 41

Forces and motor torques with notch, bandpass, and low-pass filter

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