主动磁悬浮轴承的滑模自抗扰解耦控制  

Sliding mode active disturbance rejection decoupling control for active magnetic bearings

作　　者：李冰林[1,2,3] 曾励 张鹏铭[3] 竺志大 LI Bing-lin;ZENG Li;ZHANG Peng-ming;ZHU Zhi-da(College of Automobile and Traffic Engineering,Nanjing Forestry University,Nanjing 210037,China;College of Mechanical Engineering,Yangzhou University,Yangzhou 225009,China;Zhejiang Jinggong Science&Technology Co.,Ltd.,Shaoxing 312030,China)

机构地区：[1]南京林业大学汽车与交通工程学院,南京210037 [2]扬州大学机械工程学院,江苏扬州225009 [3]浙江精功科技股份有限公司,浙江绍兴312030

出　　处：《电机与控制学报》2021年第7期129-138,共10页Electric Machines and Control

基　　金：国家自然科学基金(51375427);江苏省高校自然科学基金面上项目(13KJB580006)。

摘　　要：针对磁悬浮轴承系统各径向自由度之间存在的耦合关系,特别是转子高速时的陀螺效应耦合,提出了一种基于滑模自抗扰解耦控制的方法。首先建立了考虑耦合效应的系统模型,利用扩张状态观测器对系统的内外扰动进行估计和补偿,把多变量耦合系统解耦成4个单自由度的二阶串联积分型子系统。为保证系统的快速动态响应,将滑模控制引入到非线性状态误差反馈控制律中,设计了各自由度的滑模自抗扰控制器,并利用Lyapunov理论证明了控制系统的稳定性。通过抗干扰和信号跟踪试验仿真,结果表明,所设计的滑模自抗扰控制器实现了对磁悬浮轴承各自由度的解耦控制,响应快,能对设定信号进行跟踪,抗干扰能力强,同时解决了磁悬浮轴承高转速运行下的陀螺效应对控制的影响,能适用于纺纱机械转杯的高速场合。In view of the coupling relationship between the radial degrees of freedom of the magnetic bearing system,especially the coupling of the gyroscopic effect when the rotor is at high-speed,a method based on sliding mode active disturbance rejection decoupling control was proposed.Firstly,a system model considering the coupling effect was established.The extended state observer was used to estimate and compensate the internal and external disturbances of the system,and the multivariable coupling system was decoupled into four single-degree-of-freedom second-order series integral subsystems.In order to ensure the fast dynamic response of the system,sliding mode control was introduced into the nonlinear state error feedback control law,and sliding mode active disturbance rejection controllers of their respective degrees were designed,and stability of the control system is proved by Lyapunov theory.Through the simulation of anti-disturbance and signal tracking experiments,the results show that the designed sliding mode active-disturbance-rejection controller realizes the decoupling control of the magnetic bearing,and has fast respond characteristics and ability of anti-disturbance,and can track the set signal.At the same time,the influence of the gyroscopic effect on the control under the high-speed operation of the magnetic suspension bearing is solved,and it can be applied to the high-speed occasions of the spinning machine rotor.

关 键 词：磁悬浮轴承 自抗扰控制 滑模控制 解耦 扩张状态观测器 

分 类 号：TM355[电气工程—电机]