基于惯性运动自适应前馈的磁轴承基座扰动抑制  

Inertial motion adaptive feedforward based base perturbation suppression for magnetic bearings

作　　者：黄雨杰 徐向波[1] 郑领博 李林 HUANG Yujie;XU Xiangbo;ZHENG Lingbo;LI Lin(School of Technology,Beijing Forestry University,Beijing 100000,China)

机构地区：[1]北京林业大学工学院,北京100000

出　　处：《光学精密工程》2024年第8期1164-1174,共11页Optics and Precision Engineering

基　　金：国家自然科学基金(No.32371868)。

摘　　要：为抑制主动磁轴承中基座的运动造成转子的振动增大,设计并实现了一种基于惯性运动的前馈控制方法。首先,针对基座运动状态下的磁轴承系统,建立了基座运动的五自由度磁轴承转子动力学模型,然后,分析了在基座进行小幅度复杂运动时转子受扰动力的动力学,提出了一种基于自适应算法的惯性前馈方法。最后,采用搭建的实验平台对不同扰动下开启前馈控制前后转子的响应进行了实验研究。实验结果表明:自适应前馈控制器使能后,磁轴承转子的位移减少了80%以上。设计的自适应前馈控制方法能够有效抑制磁悬浮系统基座扰动对转子振动的影响,大幅提高了磁轴承转子的运行精度,且设计的系统仅需增加一个小体积的惯性微机电测量单元,满足实际工程应用需求。The rotor vibrations can be induced by the base motion in the active magnetic bearing systems.To solve this problem,a feedforward control approach based on inertial motion compensation was devised and implemented.First,a comprehensive five degrees of freedom dynamic model was formulated to de⁃scribe the dynamics of a magnetically suspended rotor in the active magnetic bearing system with the base movement.Then,the rotor dynamics with various disturbance forces during small-amplitude complex base motions were analyzed.Subsequently,an innovative inertial feedforward method employing an adap⁃tive algorithm was proposed.Finally,to verify the effectiveness of the proposed control method,an exper⁃iment platform was built,and then experimental investigations were carried out to compare the rotor's re⁃sponse to various disturbances both before and after activating the feedforward controller.The experimen⁃tal results show that the implementation of the proposed feedforward control method led to an about 80%reduction of the vibration displacement of the magnetically suspended rotor when it is subjected to base mo⁃tion perturbations.This marked reduction in displacement significantly enhanced the operational precision of the magnetically suspended rotor.Furthermore,the hardware implementation of the feedforward con⁃trol method only need the addition of a compact inertial micro-electromechanical measurement unit.This small hardware addition meets some requirements for engineering applications,especially where there is very small space for the mechanical structure.In conclusion,the proposed inertial motion feedforward con⁃trol method demonstrates promising ability in effectively reducing the vibration displacements of the mag⁃netically suspended rotor disturbed by the base motion,and this can improve the operational stability and precision of active magnetic bearing systems while only a very small inertial measurement unit is added.

关 键 词：主动磁轴承 动基座补偿 自适应算法 前馈控制器 惯性运动 振动抑制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH133[自动化与计算机技术—控制科学与工程]