基于四自由度整体控制模型的径向磁悬浮轴承预测控制

Predictive Control of Radial Magnetic Bearings Based on Four Degree of Freedom Integrated Control Model

四自由度径向磁悬浮轴承系统控制复杂,且通常采取从单自由度出发设计控制器。提出了一种基于径向四自由度整体控制模型预测控制方法,由磁悬浮轴承的动力学方程得到四自由度径向轴承线性化模型,利用Simulink进行仿真并与PID控制效果进行比较。结果表明,模型预测控制的控制器设计简单,无需解耦,无论转子高速或者低速运行,均可控制系统平稳进入稳定状态,没有振荡和超调问题,比PID解耦下的控制效果更加接近实际系统。

The control of radial magnetic bearing system with four degrees of freedom is complex,and the controller is usually designed from single degree of freedom.A model predictive control method based on four degree of freedom integrated control is proposed.The linearized model of the bearings is obtained from dynamic equation of magnetic bearings.Simulink is used to simulate and compare with PID control effect.The results show that the controller of model predictive control is simple in design and does not require decoupling,the system can be controlled to enter a stable state smoothly without oscillation and overshoot problems,regardless of whether the rotor operates under high or low speeds,and the control effect of model predictive control is closer to actual system than that under PID decoupling.