磁悬浮储能飞轮线性变参数鲁棒增益调度控制

Linear parameter-varying gain-scheduled robust control for active magnetic bearings of flywheel energy storage system

针对强陀螺效应的磁悬浮储能飞轮转速快变引起的模型变化而带来的控制问题,设计了线性变参数增益调度鲁棒控制器.根据飞轮的线性变参数模型,设计的鲁棒增益调度控制器,能够保证其全转速范围内的鲁棒稳定性和性能.为降低控制器设计的保守性,在设计控制器时,可缩小转速区间,使控制性能得到提高.与按照非时变模型设计的鲁棒控制器相比,线性变参数鲁棒增益调度控制器可以实现以转速为参数的自适应调节,在全转速范围内,其鲁棒稳定性和性能均具有显著优势.仿真结果验证了此控制器的有效性和先进性.

A linear parameter-varying gain-scheduled robust controller design method is developed to deal with the model-varying problem in controlling the active magnetic bearings of the flywheel energy storage system with strong gyroscopic effect.Model-varying phenomenon is induced by the rapid change in flywheel rotation speed.Thus,a speed-dependent linear parameter-varying model of flywheel is derived;and a gain-scheduled robust controller is designed which guarantees the robust stability and performance in the entire speed range of the flywheel.To reduce the design conservation,the speed range can be limited to improve the performance in the controller design.Compared with the robust controller based on linear time-invariant model,the linear parameter-varying gain-scheduled robust controller realizes the adaptive parameter adjustment with the varying speed,and has remarkable advantages in robust stability and performance in the entire speed range.The simulation validates the effectiveness and advancement of the designed controller.