电磁轴承μ鲁棒控制

μSYNTHESIS ROBUST CONTROL STUDY OF ACTIVE MAGNETIC BEARING

为解决电磁轴承系统建模不确定性问题,建立径向电磁轴承的鲁棒控制模型。提出以结构奇异值作为优化指标的μ鲁棒控制器设计方法,通过引入虚拟不确定块将电磁轴承控制系统的鲁棒性能问题转化为广义系统的鲁棒稳定问题求解,兼顾系统的稳定鲁棒性和性能鲁棒性,减小设计的保守性。借助于Matlab仿真工具给出并比较电磁轴承控制系统不同情况下H∞控制和μ控制的仿真波形。研究结果表明:在允许摄动范围内基于μ综合的电磁轴承鲁棒控制对模型不确定性具有很好的动态特性、稳定鲁棒性和性能鲁棒性。

Considering system modeling uncertainty of active magnetic bearing （AMB）, the robust control model for racial AMB is built, and a method is presented to design a μ robust controller with structured singular value as an optimal indicator. On the basis of analyzing AMB, the performance robustness problem is transformed into the stability robustness problem of the augmented system by introducing fictive uncertainty. It can be solved with D-K iteration. The stability robustness and the performance robustness are obtained simultaneously to reduce designing conservation. The simulative waveforms of control system are accomplished to check the robustness of H∞ control and μ control for AMB system under different circumstances of uncertainty and external disturbance by using Matlab, and the comparison between H∞ control and μ control is performed. The simulation results show that the robust control for AMB based on μ synthesis theory has better dynamic characteristic, stronger stability robustness and performance robustness to system model uncertainty and the external disturbances can be controlled effectively, with respect to the system model perturbations in the allowed range.