High-precision magnetic bearing axial control method based on interference observer

A technology of disturbance observer and control method, applied in the direction of control using feedback, bearings, shafts and bearings, etc., can solve the problems of inability to analyze disturbances in real time, failure to suppress, lack of disturbance records and quantitative analysis, etc.

Inactive Publication Date: 2009-07-22
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The biggest problem with these methods is that there is no online observation and compensation for unmeasurable and uncertain disturbances, such as carrier disturbances, external noise disturbances, etc. There is no special disturbance suppress

Method used

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  • High-precision magnetic bearing axial control method based on interference observer
  • High-precision magnetic bearing axial control method based on interference observer
  • High-precision magnetic bearing axial control method based on interference observer

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Embodiment Construction

[0049] Such as figure 1 Shown, the system that realizes the method of the present invention comprises frequency sweep circuit 5 and digital control hardware 6, and wherein digital control hardware 6 comprises A / D module 8, DSP module 9 and FPGA module 7; Superimposed with the excitation signal, it is transmitted to the A / D module 8, and the FPGA module 7 receives the digital quantity converted by the A / D module 8, and then sends it to the DSP module 9, and the DSP module 9 uses the interference observer algorithm to calculate the current control value, and then transmits to the FPGA module 7, and then the FPGA module 7 converts the current control amount into a PWM form output, drives the power amplifier 2 to generate electromagnetic force to act on the magnetic bearing, and realizes the levitation function.

[0050] Such as figure 2 Shown is a schematic diagram of the A / D module 8 of the present invention, and the A / D module 8 is used to collect displacement values ​​and c...

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Abstract

The invention provides a method for controlling axial direction of a high-precision magnetic bearing based on an interference observer. The method consists of a controller and the interference observer, wherein the interference observer comprises a Q filter and a rationalization generalized object inverse QGn part; the controller in a control system calculates according to displacement deviation to obtain basic control quantity so as to form a position closed loop control system; an interference value obtained by observation of the interference observer is negatively fed back into the basic control quantity to compensate exterior interference; and the formed current control quantity drives power amplification to realize high precision suspension of the magnetic bearing. The method leads differences caused by both exterior interference and objective parameter variation to be equivalent to a control input end, and introduces equivalent compensation into the control quantity to realize interference inhabitation. The method can carry out online observation and effective inhabitation against exterior interference which is not modeled or known, thereby improving control precision of suspension, and contributing to stability of the system.

Description

technical field [0001] The invention relates to a magnetic bearing axial control method, which relates to disturbance observation and suppression technology in high-precision control, and can be used for high-precision control and disturbance suppression of magnetic bearings in a magnetic suspension control moment gyro system for online observation and automatic suppression of external disturbances. . Background technique [0002] Control Moment Gyroscope (CMG) is the key actuator for spacecraft attitude control. The high-speed magnetic bearing support in CMG is a key component, and there are usually two types of mechanical ball bearings and magnetic bearings. The magnetic suspension support method solves the wear and vibration problems caused by the mechanical support, has the advantages of long life, and allows the speed of the magnetic bearing to be greatly increased, and can significantly reduce the volume of the CMG under the premise of the same angular momentum. At t...

Claims

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Application Information

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IPC IPC(8): G05D3/20F16C32/04
Inventor 魏彤丁力房建成郑世强王英广陈冬
Owner BEIHANG UNIV
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