磁悬浮电动机刚性转子径向位置的控制

Dynamic Feedback Control for a 4-DOF Rotor System with Bearingless Motors

以双磁悬浮电动机4自由度刚性转子系统为对象,研究了磁悬浮系统转子径向位置的控制。对于双磁悬浮电动机系统,两端的磁悬浮电动机所产生的电磁力,除了可以作用在本端,还会影响到另一端,同时,转子的陀螺效应又进一步增加了系统的复杂程度。因此必须对4个径向位置进行控制。首先根据转子的动力学方程,建立起磁悬浮系统的状态空间方程;然后,采用输入向量补偿和基于二次型最优的状态反馈方法,构造出磁悬浮系统的控制算法,实现4自由度径向位置的控制。通过仿真研究,进一步验证了控制策略的有效性。

The equations of motion for a 4-DOF stiff rotor are presented with rotor dynamics, and the state space model of the system is proposed. Two levitated rotating motors are employed for suspending the rotor. These bearingless motors can produce not only torque to drive the rotor rotation, but also controllable radial forces on the rotor. The interference of the gyroscopic effect of the rotor is considered. A controller is proposed to make the rotor to be located to the expected position. The controller, based on the modern control methods of input transform and dynamic feedback, is utilized to stabilize the system of radial position and to control the displacements of the rotor. Some numerical simulations are carried out to verify the theoretical results, and satisfactory performances are obtained.