五自由度磁悬浮轴承的扰动补偿控制系统设计

在比例-积分-微分(PID)控制的基础上加入扰动补偿环节,设计了五自由度磁悬浮轴承的扰动补偿控制系统.通过对转子运动模型的分析,修正并得到了更为精确的磁悬浮轴承扰动观测器模型.对离散化的扰动观测器进行了稳定性分析和参数整定方法研究,进而使扰动观测器的参数整定过程更为规范与便捷.实验结果表明:在PID控制基础上加入扰动补偿控制,转子受扰自由度的位移波动分别减小了38.7%和67%,转子在20 000r/min转速下的轴心运动轨迹波动减小了21%,从而验证了扰动补偿控制相比于PID控制的优越性.

Design of disturbance rejection control system for 5-DOF magnetic bearing

The disturbance rejection control system for 5 degree-of-freedom (DOF) magnetic bearing was designed based on proportion-integration-differentiation (PID) control combined with disturbance rejection process. Through analysis of the rotor motion model, a more accurate disturbance observer model of magnetic bearing was revised and obtained. The stability analysis of the discrete disturbance observer was conducted and the parameter tuning method was elaborated, making the parameter tuning process of disturbance observer more normative and convenient. The experimental results show that: when the disturbance rejection control is employed in PID control, displacement fluctuations of rotor disturbed DOFs are reduced by 38.7% and 67% respectively, and the motion track fluctuation of the rotor axis center is reduced by 21% with rotating speed of 20000r/min, thus verifying the superiority of the disturbance rejection control compared with PID control.