基于μ分析的鲁棒控制器在磁悬浮轴承中的应用

Application on Robust Controller Based onμAnalysis in Magnetic Bearings

针对磁悬浮轴承电磁力线性化和位移传感器温漂现象等不确定性,建立了考虑参数不确定性的磁悬浮轴承-转子系统的摄动模型,基于该模型设计了一种基于结构奇异值μ分析的鲁棒控制器并进行仿真分析,结果表明控制器降阶前后转子能稳定悬浮在平衡位置,且对正弦干扰有一定抑制作用。在转子试验台上进行了悬浮和激振试验,结果表明:与传统PID控制方法相比,μ综合控制下转子起浮调节时间缩短了95%,稳定时抵抗内部激振扰动的能力均有较大改善,且在0.5 mm,40 Hz和0.5 mm,60 Hz正弦干扰下,μ综合控制下转子位移幅值分别降低了36.4%和40%,说明考虑模型参数不确定性情况下设计的μ综合控制器使系统具有良好的鲁棒性和抗干扰能力。

Aimed at linearization of electromagnetic force of magnetic bearings and temperature drift of displacement sensor,a perturbation model of magnetic bearing-rotor system considering parameter uncertainty is established.Based on the model,a robust controller based on structural singular valueμanalysis is designed and simulated.The simulation results show that the rotor can be suspended stably at equilibrium position before and after order reduction of the controller,and the sinusoidal interference can be suppressed to some extent.The suspension and excitation experiments are carried out on rotor test bench.The results show that compared with traditional PID control method,the floating adjustment time of rotor underμ-synthesis control is shortened by 95%,and the ability to resist internal excitation disturbance is greatly improved under steady state.Under sinusoidal interference of 0.5 mm,40 Hz and 0.5 mm,60 Hz,the amplitude of rotor displacement underμ-synthesis control is reduced by 36.4%and 40%respectively,showing that theμ-synthesis controller designed considering uncertainty of model parameters makes the system have good robustness and anti-interference ability.