基于逆系统解耦的电磁轴承飞轮转子系统二自由度控制

Two-Degree-of-Freedom Control for Active Magnetic Bearing Flywheel Rotor System Based on Inverse System Decoupling

针对电磁轴承高速飞轮转子系统的振动抑制问题,提出了一种基于逆系统解耦和改进型二自由度控制的方法。首先采用逆系统方法对电磁轴承飞轮转子系统进行解耦,将非线性、强耦合的电磁轴承飞轮转子系统解耦为四个彼此独立的子系统,再用改进型二自由度控制器对解耦后的子系统进行整定,使控制系统的设定值跟踪及外扰抑制特性能够分别调节,并通过速度观测器获取阻尼控制信号,增强系统的抗噪声能力。从理论上分析了所提出控制算法的稳定性、设定值跟踪性能及鲁棒性,并对其性能进行了仿真和实验验证。结果表明,该文提出的控制算法能够使飞轮转子稳定悬浮并有效抑制其振动,具有稳定性好、鲁棒性强、抗噪声能力强等优点。

For the vibration suppression of active magnetic bearing （AMB） high-speed flywheel rotor system, a control strategy based on inverse system decoupling and improved two-degree-of-freedom （2DOF） control was proposed in this paper. The AMB flywheel rotor system was decoupled by the inverse system method firstly, so that the AMB flywheel rotor system, which was a nonlinear, strong coupling system, was decoupled into four independent subsystems. Then, the decoupled subsystems were adjusted by the improved 2DOF controller, which can regulate the performances of set-point tracking and disturbance rejection, respectively. In the improved 2DOF controller, the damping control signal was obtained by velocity estimator, so that the ability of against noise can be improved. The stability, set-point tracking and robustness of control strategy proposed were analyzed in theory, and its ability and effectiveness to control the vibration of AMB high-speed flywheel rotor system were further investigated by simulations and experiments. It is shown that the control strategy proposed can stably suspend the AMB high-speed flywheel rotor system and effectively suppress its vibrations, with the advantages of high stability, strong robustness, and good ability of against noise.