磁悬浮旋转关节建模及解耦控制方法研究

Modeling and Decoupling Control Method of Magnetically Levitated Rotary Joints

针对洛伦兹力磁悬浮旋转关节的高精度控制问题,进行旋转关节的精细建模,并提出平动-转动解耦控制及其优化方法,提升了系统的稳定性和控制性能.根据转子动力学建立旋转关节动力学模型,并根据线性时变系统的能控性秩判据判定系统完全能控.设计解耦控制器,并通过增加相位补偿器完成控制器优化,使系统闭环主导极点左移.通过仿真分析和实验验证,对比控制系统在控制器优化前和优化后的性能变化.结果表明:提出的解耦控制优化方法可有效提升磁悬浮旋转关节控制系统的稳定性和动态性能,系统调节时间缩短50%,超调量降低12%,优化效果明显.

For the high-precision control of Lorentz-force magnetically levitated rotary joints,the translational-rotational decoupling control method and its optimization method are proposed,which improve the stability and control performance of the system.The dynamics of the rotary joints is modeled according to the rotor dynamics,and the system is determined to be fully controllable according to the controllability rank criterion of the linear time-varying system.We design a decoupling controller,and optimize the controller by adding a phase compensator,which can make the closed-loop dominant pole of the system shift to the left.The changes of control performance of the control system before and after optimization are compared by simulation analysis and experimental verification.The results show that the proposed optimization method of decoupling control can effectively improve the stability and dynamic performance of the magnetically levitated rotary joints control system,and the system regulation time is shortened by 50%,while the overshoot is reduced by 12%.The optimization effect is relatively obvious.