采用改进型自抗扰控制器的平面磁轴承悬浮控制  

Levitation Control of a Planar Magnetic Bearing Based on Improved ADRC

作　　者：周振雄[1,2] 曲永印[2,1] 杨建东[1] 刘德君[2] 

机构地区：[1]长春理工大学机电工程学院,长春130022 [2]北华大学电气信息工程学院,吉林132013

出　　处：《电工技术学报》2010年第6期31-38,共8页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(60772005)

摘　　要：研究一种新型节能变磁阻式平面行程的磁轴承,它利用三套悬浮控制线圈提供调节磁通来实现悬浮控制。其悬浮部分由于磁路的交叉耦合而成为了一个与动子各端部悬浮高度以及动子平面位置都相互关联的复杂的耦合系统。针对悬浮部分非线性、多变量、强耦合的特点,提出一种改进型的自抗扰控制器(ADRC)来实现解耦控制和抑制扰动,克服了传统ADRC中误差非线性反馈控制律(NLSEF)的非线性函数不平滑特性,以此改善其控制品质。针对传统和改进型的ADRC,进行了启动和加入扰动时的仿真对比分析,针对改进型ADRC进行了实验测试。仿真和实验测试表明,应用改进型ADRC后,磁轴承悬浮位置控制系统具有很好的动、静态特性及鲁棒性。A novel energy-saving variable reluctance-type planar magnetic bearing was designed, which made use of three levitation coils to provide regulation flux to achieve levitation control. The levitation system of the planar magnetic bearing is a complex coupling system in connection with end-levitating altitude and planar position of mover because of the cross-coupling from the magnetic circuit. For the levitation system’s multivariable, nonlinear and strong coupling characters, a novel auto-disturbance rejection controller（ADRC） is proposed to realize decoupling control and disturbance rejection. This controller overcomes the rough character of non-linear function in nonlinear state error feedback of conventional ADRC and improves the control quality. For conventional and the novel ADRC, comparative analysis of simulation for start-up and adding a number of disturbances is carried out. For the improved ADRC, the experimental tests are carried out. The results of simulation and experiment show that the levitation position control system of the Planar Magnetic bearing has better dynamic,static and robust characters by using the novel auto-disturbance rejection controller.

关 键 词：平面磁悬浮轴承 非线性函数 悬浮位置 解耦控制 

分 类 号：TM301[电气工程—电机] TM571