Magnetically suspended control and sensitive gyroscope (MSCSG) with two capabilities including attitude control and attitude measurement is promising in meeting the requirements of novel spacecraft. When the momentum vector of a high-speed rotor suspended in five directions is tilted by Lorentz force-type magnetic bearing, the instantaneous large control moment is obtained. The spacecraft attitude can be sensed by a high-speed rotor without deflection interference torque. In this paper, a novel MSCSG with sphere rotor is presented, and its spherical structure and working principle are introduced. The magnetic bearing-rotor dynamic model is established based on Newton’s second law and the gyrokinetic equations. The generating mechanism of three interferences, including bearing dynamic reaction force, deflection torque, and centrifugal force, is analyzed. The feedforward compensation control against three interferences for MSCSG is adopted, and the loading sequence of three interferences is simulated. The optimal sequence of bearing dynamic reaction force, deflection torque, and centrifugal force is used. The radial and axial vibration displacement amplitudes are reduced from 20.8 μm and 31.7 μm to 9.4 μm and 14.9 μm, respectively. The experimental results are in good agreement with the simulation, which indicates the MSCSG rotor unbalance vibration is suppressed effectively by the feedforward compensation method.

中文翻译：

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带有球形转子的磁悬浮控制和灵敏陀螺仪的振动前馈补偿

具有姿态控制和姿态测量两种功能的磁悬浮控制和灵敏陀螺仪（MSCSG）有望满足新型航天器的需求。当通过Lorentz力型磁力轴承使悬挂在五个方向上的高速转子的动量矢量倾斜时，可获得瞬时大控制力矩。航天器姿态可以通过高速转子来感应，而不会产生偏转干扰扭矩。本文提出了一种新型的带球转子的MSCSG，并介绍了其球形结构和工作原理。基于牛顿第二定律和动力学方程建立了磁轴承-转子动力学模型。轴承动态反作用力，偏转扭矩和离心力三种干扰的产生机理，被分析。采用了针对MSCSG的三种干扰的前馈补偿控制，并模拟了三种干扰的加载顺序。使用轴承动态反作用力，偏转扭矩和离心力的最佳顺序。径向和轴向振动位移幅度从20.8减小 μ m和31.7  μ m至9.4  μ m和14.9  μ分别米。实验结果与仿真结果吻合良好，表明前馈补偿法有效地抑制了MSCSG转子不平衡振动。