磁轴承飞轮控制系统设计中LQR方法的应用研究

LQR METHOD RESEARCH ON CONTROL OF THE FLYWHEEL SYSTEM SUSPENDED BY AMBS

对于具有强的陀螺效应的磁悬浮飞轮转子,将转子各自由度作为独立个体采用分散控制难以满足系统要求,而LQR方法不失为一种有效的集中控制方法。通过对LQR控制方法在飞轮转子上的仿真研究,给出了LQR方法应用于磁悬浮系统控制时,加权阵Q阵与R阵的选取原则,并对反馈阵F中各参数的物理本质进行了阐述。由仿真结果与理论推导相结合,论证了陀螺位移交叉反馈的作用,由此给出了LQR控制的一种简化实现方法。

For a flywheel rotor suspended by AMBs whose gyroscopic effects can't be neglected, traditional PID controller is not suitable any longer. Because gyroscopic effects greatly influence the stability of the rotor. LQR can be considered as an effective centralized control method to control the rotor. With some LQR simulations on the flywheel system, the method of how to choose correct weight matrixes Q and R is described. Further more, the parameter essence of feedback matrix F is studied. And a simplified realization of LQR is given. At last, some deductions are done to prove the effects of gyroscopic displacement cross feedback which is shown in the simulations.