磁液双悬浮轴承单自由度支承系统解耦控制研究  

Decoupling control of single DOF supporting system of magnetin-linuin double suspension beering

作　　者：赵建华 张国基[1,2] 曹俊波 高殿荣 杜国君 Jian-hua ZHAO;Guo-ji ZHANG;Jun-bo CAO;Dian-rong GAO;Guo-jun DU(College of CivilEngineering and Mechanics,Yanshan University,Qinhuangdao 066004,China;Fluid Pouer Transmission and Control Laboratory,Yanshan University,Qinhuangdao 066004,China;Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment,Z.henjiang 212003,China)

机构地区：[1]燕山大学建筑工程与力学学院,河北秦皇岛066604 [2]燕山大学河北省重型机械流体动力传输与控制实验室,河北秦皇岛066604 [3]江苏省船海机械先进制造及工艺重点实验室,江苏镇江212003

出　　处：《机床与液压》2020年第18期1-8,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金(青年基金)(51705445);河北省自然科学基金项目(E2O020203052);河北省高等学校科学研究基金项(QN2020130)。

摘　　要：磁液双悬浮轴承是以电磁悬浮为主,静压为辅的一种新型支承轴承,能够大幅度提高承载能力及刚度,适于中速重载的场合。由于液体静压系统特性为小间隙、强阻尼、正刚度、斥力型,而电磁悬浮系统特性为大气隙、弱阻尼、负刚度、吸力型,且两系统共同支承时相互耦合,互为干扰,大幅降低了支承系统的运行稳定性,因此本文拟研究磁液双悬浮轴承单自由度磁液两支承系统之间的耦合特性,揭示其耦合力的产生机理并设计解耦控制器。首先,本文介绍了磁液双悬浮轴承的结构特点、单自由度支承系统的受力形式以及控制调节机理。然后,建立了磁液双悬浮轴承单自由度支承系统的数学传递函数,揭示磁液两支承系统之间的耦合特征及影响规律。最后,设计了类前馈解耦控制器及对角阵解耦控制器,并通过SimuOnd模块对比分析了两种解耦控制器的解耦效果。研究表明:两种解耦控制器均能够有效减小单自由度磁液两支承系统间的耦合程度,但类前馈解耦控制器比对角阵解耦控制器具有更好的稳定性、准确性,更适用于磁液双悬浮轴承单自由度磁液两支承系统的解耦控制。本论文能够为磁液双悬浮系统的稳定控制提供理论参考。With the magnetic suspension as the main method and hydrostatic bearing as the secondary one,the bearing capacity and stiffness can be improved substantially.Magnetic-Liquid Double Suspension Bearing(MLDSB)is suitable for the occasions of medium-speed overload,and has high stability and long service life.Due to small film thickness,strong damping,positive stifiness and repulsion of hydrostatic bearimg system,and large air gap,weak damping,negative stiffness and suction of magnetic suspension system,the operation stability of MLDSB can be reduced sharply by the coupling and the interference between two bearing system.In this paper,the Magnetic-Liquid coupling characteristic of single DOF bearing syslem is analyzed,the produce mechanism of coupling force is revealed,and then the decoupling controller can be designed.Firstly,the structure of MLDSB,the mechanical behavior and the adjusting principle of single DOF bearing system are presented.Then,the math-ematical model of single DOF bearing system is established,and the coupling characteristic and influence law be-tween Magnetic-Liquid bearing systems can be revealed.Finally,Similar Feed-Forward Decoupling Controller and Diagonal-Matrix Decoupling Controller are designed,and the decoupling effect of two controller with Sinulink modules can be contrasted and analyzed.The results show that two decoupling controllers can reduce the coupling degree between Magnetic-Liquid bearing systems,but Similar Feed-Forward Decoupling Controller is more suitable for the decoupling controller of MLDSB with the high operation stability and the accuracy.The research in the pa-per can provide the theoretical reference for the stable control of MLDSB.

关 键 词：磁液双悬浮轴承 单自由度支承系统 力解耦控制 类前馈解耦控制器 对角阵解耦控制器 

分 类 号：TH137[机械工程—机械制造及自动化]