无轴承薄片电机位移刚度势能悬浮控制策略研究

Research on Displacement Stiffness Potential Energy Suspension Control Strategy for Bearingless Slice Motors

首先建立了集中式绕组无轴承薄片永磁电机径向力数学模型。随后研究了无轴承电机悬浮系统位移环PID控制器的参数整定理论,并在其基础上分析了PID控制器应用于无轴承电机悬浮系统控制所存在的固有问题。为进一步改善悬浮控制性能,提出了位移刚度势能的悬浮控制算法,并通过理论推导表明该算法兼顾动态和稳态的性能。针对位移刚度势能悬浮控制算法中无法考虑转子所受径向负载力影响的不足,通过引入径向负载力观测器方式予以解决。最后,通过仿真和实验验证该控制算法的有效性。

Firstly,the radial force mathematical model of central winding bearingless slice permanent magnet motors was built. Subsequently,parameters tuning theory of displacement loop PID controller for bearingless motor suspension system was studied,and its inherent drawbacks of PID controller when used for bearingless motor suspension control system were analyzed. To improve the suspension control system performances,suspension control algorithm for the displacement stiffness potential energy was proposed,the theoretical derivation show that the dynamic and stable performance are taken into consideration in the proposed algorithm. Because the proposed algorithm cannot consider the influence of radial load force on the rotor,a radial load force observer was introduced to overcome this problem. Finally,the effectiveness of the proposed control algorithm was verified by simulation and experiment.