Three-degree-of-freedom hybrid magnetic bearing variable saturation flexible variable structure control method

Abstract

The present invention discloses a three-degree-of-freedom hybrid magnetic bearing variable saturation flexible variable structure control method. A three-degree-of-freedom hybrid magnetic bearing control system is a closed-loop control system which is formed by sequentially connecting a variable saturation flexible variable structure controller, a driving circuit, a three-degree-of-freedom hybrid magnetic bearing and a displacement detection module. The variable saturation flexible variable structure controller is formed by a control parameter u, a general operator f, a system state vector x, a selection parameter p, a variable saturation term us, adjustment vectors k1T and k2T and is connected in series in front of the driving circuit, and the driving circuit directly controls the three-degree-of-freedom hybrid magnetic bearing. The displacement sensor is used to detect a three-degree-of-freedom hybrid magnetic bearing rotor displacement signal and sends the signal to a closed-loop controller, and a three-degree-of-freedom hybrid magnetic bearing variable saturation flexible variable structure control system is formed. The variable saturation flexible variable structure controller is employed, a sliding mode trend can be eliminated, thus the system is close to optimal control performance, and continuous and smooth control signals can be obtained.

Description

technical field [0001] The invention is a three-degree-of-freedom hybrid magnetic bearing variable saturation flexible variable structure control system and method, which is suitable for precise control of a high-speed rotor magnetic suspension support system, provides conditions for ultra-high-speed rotor support, and belongs to the field of high-speed and ultra-high-speed electric transmission . Background technique [0002] Magnetic bearings use electromagnetic force to suspend the rotor in the air, so that there is no friction between the rotor and the bearing. Therefore, it has the advantages of no friction, no wear, no lubricating oil, high supporting speed, high rotor displacement accuracy, and long life. The three-degree-of-freedom hybrid magnetic shaft is a highly nonlinear controlled system that integrates mechanics, electricity, and magnetism. Its mechanical structure is simple, and it is easy to realize digital control. It can reduce the mechanical friction of th...

AI Technical Summary

Problems solved by technology

The differential geometry method realizes the linearization of the nonlinear system by transforming the state of the nonlinear system and the input coordinates, but the mathematical tools used in this method are relatively difficult, abstract, and the calculation is complicated, which is not conducive to popularization

The inverse system theory is established based on the feedback linearization method. The inverse system and the original system are synthesized to form a pseudo-linear system, which is controlled by mature linear system control theory. However, this method relies too much on the precise mathematical model of the system. Difficult to realize in practical engineering application

The inverse decoupling of the neural network solves the problem that it is difficult to establish an accurate mathematical model of the inverse system, but the neural network learning has the problem of slow convergence and easy to fall into local minimum points

Although synovial membrane variable structure control is theoretically useful and robust, it is difficult to achieve in practical engineering applications

Images