Magnetic suspension rotor system mismatch disturbance control method based on disturbance observer

A technology of disturbance observer and magnetic levitation rotor, which is applied in the field of aerospace control, can solve the problems that the external disturbance cannot be directly and timely suppressed and the uncertainty of the compensation object can not be solved.

Active Publication Date: 2018-02-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] It can be seen that the current mismatch disturbance suppression control method in the voltage-controlled maglev rotor system has the following problems: 1) The use of feedback regulation to suppress external disturbances and object uncertainties only weakens the impact of mi...

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  • Magnetic suspension rotor system mismatch disturbance control method based on disturbance observer
  • Magnetic suspension rotor system mismatch disturbance control method based on disturbance observer
  • Magnetic suspension rotor system mismatch disturbance control method based on disturbance observer

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Embodiment Construction

[0075] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0076] Step 1. Establish a dynamic model of the voltage-controlled maglev rotor system under mismatched disturbances

[0077] Such as figure 1 Shown is a detailed schematic diagram of the maglev rotor system, the control voltage u s Converted to coil current i by power amplifier s , so as to generate the expected electromagnetic force to make the rotor stably levitate in the center position.

[0078] According to Newton's law, the dynamic model of the axial maglev rotor system is:

[0079]

[0080] In the formula, m is the mass of the rigid rotor, F s is the electromagnetic force, f d is the external disturbance, and s is the rotor displacement.

[0081] According to Maxwell's law, the electromagnetic force has a nonlinear relationship with the deviation of the control current and the nominal air gap. The nonlinear electromagnetic ...

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Abstract

The invention discloses a novel composite control method based on a disturbance observer. The method can be used for suppressing mismatch disturbance in a voltage control type magnetic bearing system.The method is characterized by establishing a dynamic model of the voltage control type magnetic bearing system based on physical laws under mismatch disturbance; re-constructing an equivalent magnetic suspension rotor dynamic system by introducing a new state variable; and in the equivalent system, dividing mismatch disturbance into match and mismatch parts, wherein the match part is subjected to interference suppression through a robust controller, and the mismatch part is subjected to interference offset by designing a state space disturbance observer. The provided mismatch disturbance control method has important reference significance for high-precision suspension control of a magnetic bearing system.

Description

technical field [0001] The invention belongs to the field of aerospace control technology research, in particular to a method for controlling mismatched disturbances of a magnetic levitation rotor system based on a disturbance observer. Background technique [0002] Compared with traditional mechanical bearings, the magnetic levitation system has many advantages, such as higher speed, less wear, no lubrication, and longer life. Because of these advantages, the magnetic levitation system has been successfully applied in many fields such as flywheels, control torque gyroscopes and pumps. The magnetic shaft levitation control system has two control modes: current control mode and voltage control mode. In general, the voltage control mode is better than the current control mode. On the one hand, the input of the voltage control mode is the coil winding voltage, which is a more accurate system input variable than the current control mode; on the other hand, the power amplifier ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 彭聪祝梦婷邓智泉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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