磁悬浮轴承多自由度转子系统的协同控制建模与仿真研究

doi:10.3901/JME.2021.17.173

机械工程学报 ›› 2021, Vol. 57 ›› Issue (17): 173-184.doi: 10.3901/JME.2021.17.173

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磁悬浮轴承多自由度转子系统的协同控制建模与仿真研究

竺志大, 王文军, 寇海江, 曾励, 戴敏, 张帆

扬州大学机械工程学院扬州 225127

收稿日期:2020-09-30 修回日期:2021-03-17 发布日期:2021-11-16
通讯作者: 竺志大(通信作者),男,1965年出生,硕士研究生导师,高级工程师。主要研究方向为机械制造自动化,磁悬浮技术。E-mail:zdzhu@yzu.edu.cn
作者简介:王文军,男,1995年出生,硕士研究生。主要研究方向为磁悬浮电机、磁悬浮轴承及其控制系统。E-mail:1729807281@qq.com
基金资助:
国家自然科学基金（51375427，52005434）和江苏省自然科学基金（BK20190912）资助项目。

Research on Modeling and Simulation of Cooperative Control for Multi-degree-of-freedom Rotor System of Magnetic Bearing

ZHU Zhida, WANG Wenjun, KOU Haijiang, ZENG Li, DAI Min, ZHANG Fan

School of Mechanical Engineering, Yangzhou University, Yangzhou 225127

Received:2020-09-30 Revised:2021-03-17 Published:2021-11-16

摘要/Abstract

摘要： 电磁轴承具有无摩擦和磨损、寿命长、无油污染等优点而具有广泛的应用前景。针对非线性、高维特性以及负载不确定性和大范围变化的磁悬浮支承的转子动力系统，建立了系统的原型模型，基于逆系统对系统进行非线性解耦伪线性化，并设计了对伪线性化系统的协同控制器，构建了基于协同控制策略的闭环控制系统，并对系统进行了仿真研究，仿真结果表明：经过逆系统解耦的磁悬浮轴承支承的多自由度转子动力系统，在协同控制作用下，系统具有无超调且响应速度快、抗负载干扰的鲁棒性强、稳态性能好等优点，与传统PID控制策略比较具有更好的动态性能和稳态性能。

关键词: 磁悬浮轴承, 转子, 协同控制, 数学模型, 仿真

Abstract: The electromagnetic bearing has the advantages of no friction and wear, long life and no oil pollution, and has wide application prospects. Aiming at the non-linearity, high-dimensional characteristics, load uncertainty and large-scale variation of the magnetic suspension bearing rotor power system, the prototype model of the system is established. Based on the inverse system, the non-linear decoupling pseudo-linearization of the system is carried out, and the cooperative controller of the pseudo-linearized system is designed. The closed-loop control system based on the cooperative control strategy is constructed, and the system is simulated and studied. The simulation results show that the multi-degree-of-freedom rotor power system supported by magnetic suspension bearing decoupled by inverse system has the advantages of no overshoot, fast response, strong robustness against load disturbance and good steady-state performance under the cooperative control. Compared with the traditional PID control strategy, the system has better dynamic and steady-state performance.

Key words: magnetic bearing, rotor, cooperative control, mathematical model, simulation

中图分类号:

TM355

竺志大, 王文军, 寇海江, 曾励, 戴敏, 张帆. 磁悬浮轴承多自由度转子系统的协同控制建模与仿真研究[J]. 机械工程学报, 2021, 57(17): 173-184.

ZHU Zhida, WANG Wenjun, KOU Haijiang, ZENG Li, DAI Min, ZHANG Fan. Research on Modeling and Simulation of Cooperative Control for Multi-degree-of-freedom Rotor System of Magnetic Bearing[J]. Journal of Mechanical Engineering, 2021, 57(17): 173-184.

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磁悬浮轴承多自由度转子系统的协同控制建模与仿真研究

Research on Modeling and Simulation of Cooperative Control for Multi-degree-of-freedom Rotor System of Magnetic Bearing

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