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Robust proportional differential feedback controller design method based on feature structure configuration

A proportional differential and characteristic structure technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as unbalanced vibration, and achieve the effects of ensuring stability, convenient design, and clear thinking

Active Publication Date: 2021-06-11
ZHEJIANG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to address the deficiencies in the prior art, and propose a design method of a robust proportional differential feedback controller based on characteristic structure configuration for a rigid rotor system with an electromagnetic bearing, which is mainly used to solve the gyroscopic effect of a rigid rotor system with an electromagnetic bearing Suppress problems, unbalance vibration and unbalance control current suppression problems, and improve the robustness of the system to bias current changes

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  • Robust proportional differential feedback controller design method based on feature structure configuration
  • Robust proportional differential feedback controller design method based on feature structure configuration
  • Robust proportional differential feedback controller design method based on feature structure configuration

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Embodiment Construction

[0061] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0062] The structural diagrams of the electromagnetic bearing rigid rotor system employed in this embodiment are figure 1 Indicated. The rotor is supported by a pair of permanent magnet bearing (not shown), and the radial direction is supported by two electromagnetic bearing. Suppose the plane of the geometry of the balance the rotor is π, the plane of the A end and the B-terminal electromagnetic bearing is π A Π B The plane of the A-terminal and B-end displacement sensors is π sA Π sB These planes are parallel to the XY plane. The centroid of the rotor is C, due to axis symmetry, the centroid C must be combined with the geometry center O. Set the quality heart C to the plane π A Π B The distance is L a And L b , Centroid C to plane π sA Π sB The distance is L sa And L sb .

[0063] The OXYZ coordinate system is established. Where the X direction is the rotor radial horizontal direction, the Y direction is the radial verti...

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Abstract

The invention discloses a robust proportional differential feedback controller design method based on feature structure configuration, and the method comprises the following steps: firstly, introducing cross differential feedback, and decoupling a four-degree-of-freedom electromagnetic bearing rigid rotor system into two two-degree-of-freedom systems; secondly, obtaining a parameterized expression of a proportional differential feedback matrix by using a feature structure configuration method; then, constructing a multi-objective optimization problem, and minimizing the sensitivity of the system to the bias current change, the maximum unbalanced vibration response amplitude and the maximum unbalanced control current response amplitude while limiting the closed-loop characteristic value in a given area on a complex plane; and finally, solving the multi-objective optimization problem by using a multi-objective genetic algorithm. According to the robust proportional differential feedback controller designed by the invention, the electromagnetic bearing rigid rotor system has relatively strong robustness to bias current change and unbalanced external disturbance force while ensuring stable operation and maintaining expected dynamic performance.

Description

Technical field [0001] The present invention belongs to the field of electromagnetic bearing control, and is specifically, the design method of a robust proportional differential feedback controller based on a characteristic structure configured by a electromagnetic bearing rigid rotor system. Background technique [0002] The electromagnetic bearing utilizes electromagnetic force, overcomes the rotor gravity, so that the rotor is suspended in the air, completely eliminating the adverse effects of mechanical contact between the bearing and the rotor. High-speed motor with electromagnetic bearing has the advantages of high rated speed, large power density, long life, can be used for active control of the vibration of the rotor system, and has been widely used in the field of compressors, refrigerators, turbo molecules, high-speed flywheel energy storage. application. However, when the electromagnetic bearing rigid rotor system operates in the high rotation speed, the gyro effect a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02E60/16
Inventor 祝长生周天豪
Owner ZHEJIANG UNIV
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