磁悬浮柔性转子系统解耦控制仿真  

Simulation on Decoupling Control of Maglev Flexible Rotor System

作　　者：宋春生 尹睿[1] 魏子航 王鹏 SONG Chunsheng;YIN Rui;WEI Zihang;WANG Peng(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Provincial Engineering Technology Research Center for Magnetic Suspension,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]武汉理工大学湖北省磁悬浮工程技术研究中心,湖北武汉430070

出　　处：《西南交通大学学报》2023年第4期761-772,共12页Journal of Southwest Jiaotong University

基　　金：国家自然科学基金(51879209);中央高校基本科研业务费专项资金(2021IVA117)。

摘　　要：目前磁悬浮转子系统的解耦控制研究主要基于刚性转子系统,但在高转速、高支撑刚度下,转子的弹性模态不能忽视.针对磁悬浮柔性转子的解耦控制问题,首先,建立柔性转子模型,采用模态截断法进行简化,通过状态反馈解耦得到解耦系统;然后,基于解耦系统设计了内模控制器,针对状态变量不易通过传感器获取的特点设计状态观测器;最后,仿真分析系统的解耦效果.仿真结果表明:未解耦系统的位移响应中含有与系统固有频率相关的多个频率成分,而解耦后系统的位移响应仅含激励同频成分;同一坐标平面内的机械耦合由10^(-5)m数量级减小到10^(-6)m数量级,由陀螺效应引起的两径向方向间的耦合由10^(-6)m数量级减小到10-19 m数量级,机械耦合和陀螺效应耦合均得到了有效控制;稳定悬浮时轴心到参考点距离的标准差由6.52×10^(-9)m减小到6.38×10^(-12)m,解耦后系统的运行波动更小;转子升速时和受到噪声干扰时系统响应不再受到固有频率影响,始终保持平稳;采用状态反馈解耦对不同的控制方法同样有效.At present,the decoupling control research on maglev rotor systems is mainly based on rigid rotor systems,but the elastic mode of the rotor cannot be ignored under high speed and high support stiffiness.Aiming at the decoupling control problem of maglev flexible rotors,this paper first built a flexible rotor model,simplified the model by modal truncation method,and obtained the decoupled system through state feedback decoupling,then an internal model controller was designed based on the decoupled system,and the state observer was designed according to the characteristic that the state variables were not easily obtained by the sensors;finally,the decoupling effect of the system was simulated.The simulation results show that the displacement response of the uncoupled system contains multiple frequency components related to the natural frequency of the system,while that of the decoupled system only contains the same frequency component of the excitation;the mechanical coupling within the same coordinate plane has decreased from the order of 10^(-5)m to 10^(-6)m,and the coupling between the two radial directions caused by the gyroscopic effect has decreased from the orderof 10^(-6)m to 10^(-19)m,with both mechanical coupling and gyroscopic effect coupling effectively controlled;the standard deviation of the distance from the axis to the reference point during stable levitation has decreased from 6.52×10^(-9)m to 6.38×10^(-12)m,and the operation fluctuation of the system is smaller after decoupling;when the rotor accelerates and is disturbed by noises,the system response is no longer affected by the natural frequency and always remains stable;the state feedback decoupling is also effective for different control methods.

关 键 词：磁悬浮轴承 状态反馈 解耦系统 内模控制 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3