磁悬浮电机解耦控制方法综述

A Review on the Decoupling Control Methods of the Magnetic Levitation Motors

磁悬浮电机具有机械非接触、多变量控制、非线性和强耦合等特点,其非线性、强耦合特性严重制约了该类电机的高性能运动控制,探索有效的解耦控制方法是实现此类电机可靠运行的必由途径。论文综述了国内外已有的主要磁悬浮电机解耦控制方法,分析了磁悬浮无轴承电机径向悬浮力与电磁转矩、两个径向悬浮力的解耦控制方法,讨论了磁悬浮直线电机水平与竖直电磁力的解耦控制方法,探讨了磁悬浮平面电机电磁力与力矩、各驱动单元电磁力的解耦控制方法,为进一步研究磁悬浮电机的高性能运动控制奠定了基础。

Magnetic levitation motors have the characteristics of mechanical non-contact,multivariable control,nonlinear and strong coupling.The nonlinear and strong coupling characteristics of the motors seriously restrict their high-performance motion control.Exploring effective decoupling control methods is an inevitable way to realize the reliable operation of the motors.The main decoupling control methods of magnetic levitation motors were reviewed in this paper.The decoupling control methods of the radial levitation force and electromagnetic torque as well as the two radial levitation forces of the magnetic levitation bearingless motor were analyzed.The decoupling control methods of the horizontal and vertical electromagnetic forces of the magnetic levitation linear motor were investigated.Moreover,the decoupling control methods of the electromagnetic force and torque as well as the electromagnetic force of each drive unit of the magnetic levitation planar motor were discussed.This study provide a reference for further research on high-performance motion control of magnetic levitation motors.