重复控制与积分正反馈组合的磁轴承低功耗控制

徐向波; 陈劭; 刘晋浩

doi:10.3788/OPE.20172508.2149

您当前的位置：

首页 >

文章列表页 >

重复控制与积分正反馈组合的磁轴承低功耗控制

微纳技术与精密机械 | 更新时间：2020-07-07

- 重复控制与积分正反馈组合的磁轴承低功耗控制
- Low power control of magnetic bearing combined by repetitive control and positive integral feedback
- 光学精密工程 2017年25卷第8期页码：2149-2154
- 作者机构：
  
  北京林业大学工学院, 北京 100083
- 作者简介：
  
  [ "徐向波(1982-), 男, 山东烟台人, 讲师, 2009年、2013年于北京航空航天大学分别获得硕士、博士学位, 现为北京林业大学工学院讲师, 主要从事磁悬浮执行机构、精密机电控制系统技术等方面的研究。E-mail:xuxiangbo@bjfu.edu.cn" ]
  陈劭(1963-), 男, 北京人, 副教授, 硕士生导师, 2007年于北京林业大学获得博士学位, 现担任北京林业大学工学院副院长、中国林学会林业机械分会理事、北京内燃机协会理事, 主要从事振动分析与抑制、水泵动力学分析等方面的研究。E-mail:chenshao@bjfu.edu.cn CHEN Shao, E-mail:chenshao@bjfu.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(51605031);中国博士后科学基金面上资助项目(2016M600051)
- DOI：10.3788/OPE.20172508.2149
  中图分类号： V448.22;TP273.2
- 收稿日期：2016-12-27，
  
  录用日期：2017-4-14，
  
  纸质出版日期：2017-08-25
- 稿件说明：
移动端阅览
徐向波, 陈劭, 刘晋浩. 重复控制与积分正反馈组合的磁轴承低功耗控制[J]. 光学精密工程, 2017,25(8):2149-2154.

Xiang-bo XU, Shao CHEN, Jin-hao LIU. Low power control of magnetic bearing combined by repetitive control and positive integral feedback[J]. Optics and precision engineering, 2017, 25(8): 2149-2154.
徐向波, 陈劭, 刘晋浩. 重复控制与积分正反馈组合的磁轴承低功耗控制[J]. 光学精密工程, 2017,25(8):2149-2154. DOI： 10.3788/OPE.20172508.2149.

Xiang-bo XU, Shao CHEN, Jin-hao LIU. Low power control of magnetic bearing combined by repetitive control and positive integral feedback[J]. Optics and precision engineering, 2017, 25(8): 2149-2154. DOI： 10.3788/OPE.20172508.2149.

摘要

本文提出一种重复控制与积分正反馈相结合的控制方法，以抑制磁轴承系统功耗。首先建立了磁轴承系统的数学模型，分析了由重力、转子不平衡和位移传感器噪声引起的电流噪声的频率特性，分析发现其可分为直流和多谐波两大类；其次推导了用于消除直流电流的控制器需满足的条件，在此基础上，设计了一种电流积分正反馈算法。通过调节转子的悬浮位置，利用混合磁轴承中永磁体产生的磁力抵消重力，抑制电流的直流分量，采用根轨迹方法确定保证闭环系统稳定的参数取值范围；然后提出一种嵌入式重复控制方法抑制转子不平衡和位移传感器引起的多谐波电流噪声，采用重构谱理论判定系统的稳定性。最后以磁悬浮控制力矩陀螺为测试平台，对所提出的控制算法进行仿真和实验研究。结果表明：采用该算法后，电流的直流分量基本被抑制，谐波分量的峰峰值减小了88.3%，功耗减小了7W，验证了该算法的有效性。

Abstract

A control method combined by repetitive control and positive integral feedback was proposed to restrain system power consumption of magnetic bearing. Firstly

mathematical model of magnetic bearing system was established. Frequency characteristics of current noise caused by gravity

rotor imbalance and displacement sensor noise were analyzed

and found the current noise could be divided into two types of direct component and harmonic component. Controller conditions of eliminating direct current were deduced

a current positive integral feedback was designed. By adjusting suspension position of rotor

magnetic force produced by permanent magnet in hybrid magnetic bearing was used to offset gravity and suppress direct current component. A root locus method was employed to analyze the stability of the closed-loop system and to determine the parameters range. Then a plug-in repetitive control method was proposed to suppress multiple-harmonic current noise caused by rotor imbalance and displacement sensor. The absolute stability of the whole system was analyzed with the help of the regeneration spectrum. Finally

simulation and experimental research were implemented for proposed control algorithm taking magnetically suspended control moment gyro as test platform. Results indicate that:after applying proposed algorithm

direct current component is suppressed basically

peak-to-peak value of harmonic component is decreased by 88.3% and power consumption is decreased by 7 W

which verifies effectiveness of the algorithm.

关键词

Keywords

references

崔培玲, 潘智平, 李海涛.基于α阶逆系统的两自由度主被动磁悬浮转子解耦控制[J].光学精密工程, 2014, 22(10):2747-2756.

CUI P L, PAN ZH P, LI H T. Decoupling control of 2-DOF passive and active hybrid magnetically suspended rotor based on α-order system[J]. Opt. Precision Eng., 2014, 22(10):2747-2756. (in Chinese)

高辉, 李怀良, 翟长国, 等.电动汽车磁悬浮飞轮电池储能系统设计[J].电力系统自动化, 2013, 37(1):186-190.

GAO H, LI H L, ZHAI CH G, et al.. Design of energy storage for maglev flywheel battery of electric vehicles[J]. Automation of Electric Power Systems, 2013, 37(1):186-190. (in Chinese)

谢进进, 刘刚, 文通.双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制[J].光学精密工程, 2015, 23(8):2211-2219.

XIE J J, LIU G, WEN T. Composite compensation for load torque of active magnetic bearing in DGMSCMG[J]. Opt. Precision Eng., 2015, 23(8):2211-2219. (in Chinese)

王英广, 房建成, 郑世强, 等.磁悬浮电机的高效高精度在线动平衡[J].光学精密工程, 2013, 21(11):2884-2892.

WANG Y G, FANG J CH, ZHENG SH Q, et al.. Field balancing of magnetically levitated motor in high-efficiency and high-accuracy[J]. Opt. Precision Eng., 2013, 21(11):2884-2892. (in Chinese)

张剀, 赵雷, 赵鸿宾, 等.磁悬浮飞轮低功耗控制方法仿真研究[J].清华大学学报(自然科学版), 2004, 14(3):301-303.

ZHANG K, ZHAO L, ZHAO H B, et al.. Zero-power control method for a flywheel suspended by active magnetic bearings[J]. J. Tsinghua Univ. (Sei & Tech), 2004, 14(3):301-303. (in Chinese)

HOQUE M E, MIZUNO T, ISHINO Y, et al.. A three-axis vibration isolation system using modified zero-power controller with parallel mechanism technique[J]. Mechatronics, 2011, 21(6):1055-1062.

刘超, 刘刚, 赵光再.主被动磁悬浮高速转子系统的自动平衡控制[J].光学精密工程, 2015, 23(3):714-722.

LIU CH, LIU G, ZHAO G Z. Aotobalancing control of high-speed suspended by active-passive magnetic bearings[J]. Opt. Precision Eng., 2015, 23(3):714-722. (in Chinese)

XU X, CHEN S. Field balancing and harmonic vibration suppression in rigid AMB-rotor systems with rotor imbalances and sensor runout[J]. Sensors, 2015, 15:21876-21897.

TSIOTRAS P, WILSON B C. Zero-and low-bias control designs for active magnetic bearings[J]. IEEE Transactions on Control Systems Technology, 2003, 11(6):889-904.

SUN J, FANG J Ch. A novel structure of permanent-magnet-biased radial hybrid magnetic bearing[J]. Journal of Magnetism and Magnetic Materials, 2011, 323(2):202-208.

REN Y, FANG J Ch. High-stability and fast-response twisting motion control for the magnetically suspended rotor system in a control moment gyro[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(5):1625-1634.

CUI P L, LI SH, WANG Q R, et al.. Harmonic current suppression of AMB rotor system at variable rotation speed based on multiple phase-shift notch filters[J]. IEEE Transactions on Industrial Electronics, 2016, 63(11):6962-6969.

SUN J J, GONG J W, CHEN B F, et al.. Analysis and design of repetitive controller based on regeneration spectrum and sensitivity function in active power filter system[J]. IET Power Electronics, 2014, 7(8):2133-2140.

浏览量

550

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于自适应陷波与重复控制的主动磁悬浮轴承系统谐波振动抑制

磁悬浮陀螺飞轮用隐式洛伦兹力磁轴承

便携式上转换荧光试纸条检测仪的研制

双框架磁悬浮控制力矩陀螺磁轴承负载力矩复合补偿的控制

基于滑模扰动观测器的磁轴承主动振动控制