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A modal decoupling decentralized control method for magnetic bearings

A decentralized control and magnetic bearing technology, which is applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as gyro coupling suppression, achieve good decoupling effects, and improve stability

Inactive Publication Date: 2017-10-24
NANJING TECH UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is that the existing decentralized cross-feedback control of magnetic bearings cannot effectively suppress the gyro coupling existing in the parameter asymmetric system

Method used

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  • A modal decoupling decentralized control method for magnetic bearings
  • A modal decoupling decentralized control method for magnetic bearings
  • A modal decoupling decentralized control method for magnetic bearings

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Embodiment Construction

[0050] In order to facilitate the understanding of the modal decoupling decentralized control method for magnetic bearings provided by the present invention, firstly, the mathematical model of the magnetic bearing system can be obtained according to the rotor dynamics theory:

[0051]

[0052]

[0053]

[0054]

[0055] In the formula, m is the mass of the magnetic bearing rotor, J x and J y is the moment of inertia at the equator, J z is the pole moment of inertia, a and b are the distances from the left and right magnetic bearings to the center of mass, ω is the rotational speed of the rotor, and the vector q c =[x y-θ x θ y ] T is the coordinates of the center of mass of the magnetic bearing system, vector i=[i lx i rx i ly i ry ] T To control the current, the current stiffness coefficient matrix K i and displacement stiffness coefficient matrix K s They are:

[0056] K i =diag(k iLx ,k iRx ,k iLy ,k iRy )

[0057] K s =diag(k sLx ,k sRx ...

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Abstract

The invention provides a modal decoupling decentralized control method for a magnetic bearing, the steps include: step 1, decoupling the gyro coupling item of the magnetic bearing; step 2, performing a differential link, a proportional link and an integral link respectively Anti-diagonal term compensation; step 3, respectively compensate the positive diagonal term introduced by the differential coupling compensation controller, proportional coupling compensation controller and integral coupling compensation controller. The modal decoupling decentralized control method compensates the modal coupling of the system while suppressing the rotor gyro effect, realizes the control of the modal quantity of the rotor, and improves the stability of the system, and is different from the traditional PID control method, cross feedback control, Compared with the linear quadratic (LQR), the mode decoupling decentralized control method of the present invention is not affected by the rotating speed of the magnetic bearing rotor, and has a good decoupling effect on the gyro effect existing in the system.

Description

technical field [0001] The invention relates to a control method for a magnetic bearing, in particular to a mode decoupling decentralized control method for a magnetic bearing. Background technique [0002] Due to the limitations of the manufacturing process and the requirements of practical applications, the size of the magnetic bearing system is usually asymmetric with respect to the center of mass of the rotor. If the magnetic bearing rotor system is designed to be symmetrical about the rotor mass center in terms of geometric dimensions, the system cannot be called a parametric symmetric system in a strict sense. Satisfying the system conditions of symmetric parameters also includes the symmetry of the bearing stiffness, because the system stiffness is related to parameters such as air gap permeability, number of winding turns, and air gap length at the balance point, and is affected by thermal expansion, uncertain length of the air gap at the balance point, etc. Therefo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 张广明禹春敏欧阳慧珉梅磊
Owner NANJING TECH UNIV
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