基于xPC Target的静电陀螺支承控制系统仿真

针对静电陀螺转子在电极腔内的运动特性，建立了具有负刚度特性的转子动力学方程。结合传统的3-4，4—3变换，建立了三路支承控制器，并采用MATLAB参数优化工具箱设计控制器参数。采用xPC Target及相应的接口电路建立了实时仿真平台，对支承控制系统进行实时仿真。实时仿真结果表明三路支承控制器能够对具有负刚度特性的转子运动进行有效控制。另外通过一个实际模拟电路验证了实时仿真平台的有效性，这对八电极小型实心转子静电陀螺的支承控制系统快速研制具有重要意义。

Simulation of suspension control system of ESG using xPC target

The dynamic equation of the electrostatic suspension gyroscope(ESG) rotor with negative stiffness was established considering its kinetic characteristics in the electrode cavity. The 3-channel suspension controller was designed combining with the traditional 3-4,4-3 transform,with its parameters optimized using MATLAB Parameter Optimization Toolbox. The real-time simulation platform was set up using xPC Target and the corresponding interface circuits,on which the real-time simulation of suspension control system was carried out. The simulation results showed that the 3-channel controller could effectively control the movement of the rotor with negative stiffness. In addition,a practical analog circuit was used to verify the platform's effectiveness,which had great significance to the rapid design of the suspension control system of small solid eight-electrodes ESG.