基于特征结构配置的电磁轴承-刚性转子系统动态补偿器的设计  

Design of a Dynamical Compensator Based on Eigenstructure Assignment for Active Magnetic Bearings-rigid Rotor Systems

作　　者：周天豪 祝长生[1] ZHOU Tianhao;ZHU Changsheng(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,Zhejiang Province,China)

机构地区：[1]浙江大学电气工程学院,浙江省杭州市310027

出　　处：《中国电机工程学报》2024年第6期2448-2461,I0031,共15页Proceedings of the CSEE

基　　金：国家科技重大专项(J2019-IV-0005-0073);国家重点基础研究(2020-ZD-232-00);基础科研计划(2019110C026)。

摘　　要：由于电磁轴承-转子系统的动力学特性与控制器的结构和参数密切相关,若要使系统安全、稳定及可靠地运行,控制器的设计尤为重要。针对电磁轴承-刚性转子系统,提出一种基于特征结构配置的动态补偿器的设计方法。首先,通过模态解耦,将平动和锥动运动相互耦合的四自由度电磁轴承-刚性转子系统解耦为2个单自由度平动子系统和2个单自由度锥动子系统。然后,基于特征结构配置,建立引入动态补偿器后的闭环系统的特征值和特征向量与补偿器参数之间的关系。之后,限定特征值的变化范围,以使系统具备稳定性和良好的动态性能,构造优化目标函数,以同时抑制转子系统的不平衡位移和不平衡控制电流,从而使系统具备所需的动力特性。最后,通过数值仿真和试验,验证所设计的动态补偿器的有效性。Since the dynamical characteristics of active magnetic bearings(AMBs)-rotor systems are closely related to the structures and the parameters of controllers,it is particularly important to design proper controllers to make the systems work safely,steadily and reliably.Aiming at the AMBs-rigid rotor systems,a design method of a first-order dynamical compensator based on eigenstructure assignment is proposed in this paper.First,the four-degree-of-freedom(4-DOF)AMBs-rigid rotor system is decomposed into two 1-DOF translational sub-systems and two 1-DOF conical sub-systems through modal decoupling method.Then,based on the eigenstructure assignment,the relations between the eigenvalues and the eigenvectors of the closed-loop system using the first-order dynamical compensator,and the parameters of the compensator are obtained.Moreover,the eigenvalues are confined in some specific regions to obtain stability and good dynamical performance,and the objective functions for optimization are constructed to suppress the unbalance displacements and the unbalance control currents of the AMBs-rigid rotor system simultaneously.The AMBs-rigid rotor system under the control of the proposed dynamical compensator has desired dynamical performance,and the effectiveness of the designed compensator is confirmed through numerical simulations and experiments.

关 键 词：电磁轴承 刚性转子 特征结构配置 动态补偿 

分 类 号：TH133[机械工程—机械制造及自动化]