3自由度アクティブ制御型磁気支持ジャイロの開発(機械力学,計測,自動制御)

抄録

This paper proposes a new structure of rotating gyro using magnetic suspension. The new-structured gyro is called magnetically suspended gyro. A rotating gyro based on an active magnetic bearing (AMB-based gyro) has been proposed in order to realize high accuracy, compact and low-cost gyros. However, the miniaturization of the AMB-based gyro is technically difficult because of the constraints of its structure. In contrast, the proposed structure suits miniaturization because of the simplicity of rotor design. Based on the new concept, a prototype of the magnetically suspended gyro was fabricated. The structure, the principle of angular velocity measurement and the control system for magnetic suspension are presented. The performance of the closed-loop system and angular velocity measurement was evaluated. The magnetically suspended gyro was effective in measuring angular velocity below 10Hz although the measured angular velocity signal includes oscillating components. Since such components come from the displacement sensors used for magnetic suspension, the accuracy of the gyro is expected to be higher if the displacement sensors are improved.