电磁轴承刚性转子系统前馈解耦控制

Feedforward decoupling control for magnetically suspended rigid rotor system

为了消除电磁轴承支撑的刚性转子系统径向各自由度间的耦合,提出电磁轴承刚性转子系统径向四自由度的前馈解耦控制策略;针对解耦后系统存在的不平衡振动,提出基于不平衡量辨识的转子不平衡补偿方法;为了提升解耦和不平衡补偿效果,利用最速跟踪微分器来获取前馈解耦控制器及不平衡量辨识器所需的微分信号.仿真及试验结果表明,所设计的前馈解耦控制器可以将电磁轴承刚性转子系统径向原来相互耦合的四自由度系统解耦为4个单自由度系统;利用所设计的不平衡量辨识器辨识出转子不平衡量并对其进行补偿,能够抑制转子系统的不平衡振动;采用最速跟踪微分器,不仅能够削弱测量噪声对解耦效果及不平衡补偿效果的影响,还能够提升控制系统的抗噪能力.

A feedforward decoupling control for magnetically suspended rigid rotor was proposed in order to eliminate the coupling between the radial four degree-of-freedom of a rigid rotor supported by two radial active magnetic bearings(AMB).The rotor imbalance compensation method based on imbalance identification was used to suppress the imbalance vibration of the rigid rotor system which had been decoupled by the feedforward decoupling control method.In order to improve the performance of feedforward decoupling control and imbalance compensation,a time-optimal tracking differentiator was used to get the differential signals in the feedforward decoupling control and imbalance compensation.Numerical simulations and experiment results show that the radial four degree-of-freedom coupling system for the AMB-rigid rotor can be completely decoupled into four single degree-of-freedom systems by the feedforward decoupling controller;the imbalance vibration of the rigid rotor system can be suppressed by the imbalance compensation method based on rotor imbalance identification;the performance of decoupling and imbalance compensation can be improved;the anti-interference ability of the control system can be enhanced by using the time-optimal tracking-differentiator.