Application of a New Lorentz Force-type Tilting Control Magnetic Bearing in a Magnetically Suspended Control Sensitive Gyroscope with Cross-Sliding Mode Control

Abstract

A magnetically suspended control sensitive gyroscope (MSCSG) is a type of gyroscope with integrated attitude control and attitude angular measurement. The rotor of the MSCSG is a split-type sphere with different radii, so that the external force of the rotor can always pass the center of the gyro rotor. This is advantageous for providing precise control. The rotor is driven by a Lorentz force magnetic bearing (LFMB) capable of tilting in all directions and controlling attitude with precise torque. Its control precision depends directly on the uniformity in the magnetic density of the LFMB. To make the magnetic density distribution more uniform, a new LFMB is proposed. A cross-sliding mode controller is designed to control the rotor tilt. The Lyapunov theory is introduced to design the method proposed, thus the closed-loop system is Lyapunov stable. Numeric simulations are developed to demonstrate the effectiveness of the control method proposed, and the results illustrate that this method can inhibit disturbances effectively for both new LFMB and traditional LFMB. Furthermore, the tracking accuracy and dynamic performance of the new LFMB are significantly better than the traditional one.