基于部分模型辅助LADRC的电磁轴承-飞轮转子系统振动抑制

Vibration Suppression of Electromagnetic Bearing-Flywheel Rotor System Based on Partial Model Assisted LADRC

针对电磁轴承支承的飞轮转子系统振动抑制问题,提出了一种部分模型辅助线性自抗扰控制方法,建立考虑陀螺效应和不平衡力的刚性飞轮转子系统径向四自由度二阶数学模型,将各自由度二阶模型中的本自由度项作为已知信息辅助线性扩张状态观测器的设计,其他自由度项和不平衡力作为外界扰动,并设计线性状态误差反馈控制律对总扰动进行实时补偿。仿真结果表明,所提方法能以更低的观测器带宽达到与线性自抗扰控制相同的控制性能,并实现飞轮转子径向4个自由度之间的有效解耦,比分散PID控制具有更好的动态性能和抗干扰能力,可实现转子全转速范围内振动的有效抑制。

Aimed at vibration suppression of flywheel rotor system supported by electromagnetic bearings,a partial model assisted linear active disturbance rejection control method is proposed.A radial four degree of freedom secondorder mathematical model of rigid flywheel rotor system considering gyroscopic effects and unbalanced force is established.The degree of freedom term in second-order mathematical model of each degree of freedom is taken as known information to assist the design of linear extended state observer,and other degrees of freedom terms and unbalanced force are used as external disturbances.The linear states error feedback is designed to compensate the total disturbances in real time.The simulation results show that the proposed method can achieve the same control performance as linear active disturbance rejection control with lower observer bandwidths,and realize the effective decoupling between four degrees of freedom in radial direction of the rotor.Compared with decentralized PID control,the proposed method has better dynamic performance and anti-disturbance ability,and can effectively suppress the vibration of the rotor within full speed range.