Repetitive controllers are widely used in rotor systems of magnetically suspended control moment gyro, which are responsible for suppressing harmonic current because of sensor runout and mass imbalance of the rotor. However, the rotation frequency of the rotor is not constant in industrial applications, and it is likely to fluctuate around the rotation frequency, which greatly affects the suppression effect of the repetitive controller on harmonic current. This article proposes a new repetitive control method with strong frequency robustness, which still has high suppression accuracy when the rotation frequency is fluctuant. This method is simulated and verified on the magnetically suspended rotor system, which has achieved better results than previous research.

重复控制器广泛用于磁悬浮控制力矩陀螺仪的转子系统中，由于传感器的跳动和转子的质量不平衡，该控制器负责抑制谐波电流。然而，转子的旋转频率在工业应用中不是恒定的，并且可能围绕旋转频率波动，这极大地影响了重复控制器对谐波电流的抑制效果。本文提出了一种新型的重复控制方法，该方法具有很强的频率鲁棒性，在旋转频率波动时仍具有较高的抑制精度。该方法在磁悬浮转子系统上进行了仿真和验证，取得了比以前的研究更好的结果。