主动磁悬浮轴承的Terminal滑模变结构控制  

Terminal sliding mode variable structure control of active magnetic bearings

作　　者：张东波 方玺[1] 张小玉[1] 吴华春[2] 张亮[1] ZHANG Dongbo;FANG Xi;ZHANG Xiaoyu;WU Huachun;ZHANG Liang(School of Science. Wuhan University of Technology,Wuhan 430070, China;School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070, China)

机构地区：[1]武汉理工大学理学院,湖北武汉430070 [2]武汉理工大学机电工程院,湖北武汉430070

出　　处：《武汉大学学报（工学版）》2019年第8期736-740,共5页Engineering Journal of Wuhan University

基　　金：国家自然科学基金面上项目(编号:61573012);安全预警与应急联动技术湖北省协同创新项目(编号:JD20160214);中央高校基本科研业务费专项资金资助项目(编号:WUT:2016IA004)

摘　　要：为了给主动磁悬浮轴承转子系统提供更稳定的控制,根据其动力学方程的强非线性,建立4输入4输出状态方程,并提出一种Terminal滑模变结构控制算法,从理论模型上分析了该算法的鲁棒性与收敛性,并利用Simulink进行仿真.由实验结果表明,与传统PID控制器的控制结果相比,所设计的4输入4输出磁悬浮轴承Terminal滑模变结构控制器可以在很短响应时间内有效地消除抖振现象,可达到良好的控制效果,且与传统滑模控制器相比,系统的初始状态已经在滑面上,消除了滑模控制的到达阶段,保证了系统的全局鲁棒性,对参数变化具有一定的抗干扰能力,状态跟踪误差也可以在有限时间内收敛到0.In order to provide more stable control for the active magnetic bearing rotor system, based on the strong nonlinearity of its dynamic equation, a state equation of 4-input and 4-output is established;and a sliding mode control algorithm is proposed. The robustness and convergence of the algorithm are analyzed on the theoretical model;and Simulink is used for simulation. The experimental results show that compared with the control results of the traditional PID controller, the designed 4-input 4-output magnetic bearing Terminal sliding mode variable structure controller can effectively eliminate the chattering phenomenon in a short response time and achieve good control effect. Compared with the traditional sliding mode controller, the initial state of the system is already on the slip surface, eliminating the arrival stage of the sliding mode control, ensuring the global robustness of the system and having strong anti-interference ability to the parameter changes. The state tracking error can also converge to zero in a limited time.

关 键 词：主动磁悬浮轴承 转子动力学 TERMINAL滑模控制 鲁棒性 

分 类 号：TH133.3[机械工程—机械制造及自动化]