Model-free adaptive control for three-degree-of-freedom hybrid magnetic bearings

由于气隙磁场分布不均以及未建模动态性,数学模型不再适用于磁力轴承系统。基于错误数学模型的系统控制会表现出低响应和高颤动。为解决这一问题,本文提出一种三自由度混合磁轴承无模型自适应控制系统。该控制系统仅与控制电流和轴承的平衡位置有关。其参数估计算法的设计与模型无关,直接基于输入和输出数据的伪偏导数。本文通过不同直径的辅助轴承分析了三自由度混合磁轴承转子悬浮区域,以及通过两种不同的操作系统具体分析无模型自适应控制系统的可行性。模拟和实验结果表明,该三自由度混合磁轴承无模型自适应控制系统具有响应速度快,稳态误差小,和稳定性好等优势。

Mathematical models are disappointing due to uneven distribution of the air gap magnetic field and significant un- modeled dynamics in magnetic bearing systems. The effectiveness of control deteriorates based on an inaccurate mathematical model, creating slow response speed and high jitter. To solve these problems, a model-free adaptive control （MFAC） scheme is proposed for a three-degree-of-freedom hybrid magnetic bearing （3-DoF HMB） control system. The scheme for 3-DoF HMB depends only on the control current and the objective balanced position, and it does not involve any model information. The design process of a parameter estimation algorithm is model-free, based directly on pseudo-partial-derivative （PPD） derived online from the input and output data information. The rotor start-of-suspension position of the HMB is regulated by auxiliary bearings with different inner diameters, and two kinds of operation situations （linear and nonlinear areas） are present to analyze the validity of MFAC in detail. Both simulations and experiments demonstrate that the proposed MFAC scheme handles the 3-DoF HMB control system with start-of-suspension response speed, smaller steady state error, and higher stability.