基于α阶逆系统五自由度无轴承永磁电机解耦控制

Study on Decoupling Control of The 5 Degree-of-Freedom Bearingless Permanent Magnet Motor Based on α-th Order Inverse System Method

文中应用多变量非线性控制α阶逆系统方法,对新型五自由度无轴承永磁同步电机这一多变量、非线性、强耦合的控制对象进行动态解耦控制研究。介绍了新型五自由度无轴承永磁同步电机结构,阐述了α阶逆系统方法,分析了三自由度磁轴承的工作原理和二自由度无轴承永磁同步电机径向力产生机理,给出三自由度磁轴承轴向力、径向悬浮力方程和二自由度无轴承永磁同步电机转矩力和径向悬浮力方程,建立了电机的状态方程,分析了基于α阶逆系统方法解耦控制的可行性,推导出基于α阶逆系统方法的动态解耦控制算法,并进行了仿真研究。仿真结果表明这种控制策略能够实现五自由度无轴承永磁同步电机转矩力和悬浮力之间的动态解耦控制,系统具有良好的动、静态性能。

A decoupling control approach based on α-th order inverse system method has been developed for the innovative 5 degree-of-freedom（DOF） bearingless permanent magnet synchronous motor（BPMSM）, which is multi-variable, nonlinear and coupled system. Firstly, the innovative 5 DOF BPMSM is briefly introduced. Then α-th order inverse system method is expounded. Secondly, the working principles of 3 DOF magnetic bearing and 2 DOF BPMSM are analyzed. Then the electromagnetic torque equation and radial forces equations of the 2 DOF BPMSM and the radial-axial -forces equations of 3 DOF magnetic bearing are given. And the state equations of BPMSM are set up. Thirdly, the feasibility of decoupling control based on α-th order inverse system method for the innovative 5 DOF BPMSM is discussed in detail, and the dynamic decoupling control algorithm based on α-th order inverse system method is deduced and simulated. The simulation results have showed that this kind of control strategy can realize dynamic decoupling control between torque force and suspension forces of 5 DOF BPMSM, and the whole control system has fine dynamic and static performance.