电磁轴承绕组回路容错控制方法
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摘要
以8极结构的径向电磁轴承为研究对象,为了提高多绕组回路运行的整体可靠性,避免转子因悬浮失控而引发事故,提出了8极径向电磁轴承绕组容错控制方法。首先,当一个或多个绕组回路发生故障时,该方法遵循最小功耗的分配策略,将故障绕组的电磁力分配到其他正常绕组,维持转子基本的悬浮状态,为转子安全降速赢得时间,从而消除或减轻转子在高速悬浮失控造成事故的损失;其次,对可以实现容错控制的故障形式进行归类,每一种故障类型只需求解一个基本电流分配矩阵;最后,通过坐标变换矩阵和绕组重映射矩阵实现多绕组回路不同故障形式的容错控制。数值分析结果表明,该容错方法能有效减少绕组电流的能量消耗,简化容错控制过程,提高系统的可靠性。
The radial electromagnetic bearing with eight-pole structure was chosen as the research object. In order to improve the overall reliability of multi-winding loop operation and avoid the accident caused by the suspension out-of-control of the rotor, a fault tolerant control method for radial electromagnetic bearing with eight-pole structure was proposed. Firstly, in the event of a fault in one or more of the winding loops, the method follows the distribution strategy of minimum power dissipation and distributes electromagnetic force of faulty winding to other normal windings to maintain basic suspension state of rotor and gain time for safe speed reduction of rotor so as to eliminate or relieve the loss caused by uncontrolled suspension at a high speed. Secondly, all the failure modes that can achieve fault tolerant control are categorized. Each fault type only needs to solve one basic current distribution matrix. Finally, the fault tolerant control of different fault modes in a multi-winding loop can be achieved through coordinate transformation and winding remapping matrix. Numerical analysis results show that the fault tolerant method can effectively reduce energy consumption of winding current, simplify the fault tolerant control process and improve the system reliability.
The radial electromagnetic bearing with eight-pole structure was chosen as the research object. In order to improve the overall reliability of multi-winding loop operation and avoid the accident caused by the suspension out-of-control of the rotor, a fault tolerant control method for radial electromagnetic bearing with eight-pole structure was proposed. Firstly, in the event of a fault in one or more of the winding loops, the method follows the distribution strategy of minimum power dissipation and distributes electromagnetic force of faulty winding to other normal windings to maintain basic suspension state of rotor and gain time for safe speed reduction of rotor so as to eliminate or relieve the loss caused by uncontrolled suspension at a high speed. Secondly, all the failure modes that can achieve fault tolerant control are categorized. Each fault type only needs to solve one basic current distribution matrix. Finally, the fault tolerant control of different fault modes in a multi-winding loop can be achieved through coordinate transformation and winding remapping matrix. Numerical analysis results show that the fault tolerant method can effectively reduce energy consumption of winding current, simplify the fault tolerant control process and improve the system reliability.
引文
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[13] 耿青玲, 张黎. 电流再分配方法在弱耦合径向磁力轴承执行器容错控制中的应用[J]. 机械工程师, 2016(6): 105-108.
[14] 胡春桃. 执行器故障对磁力轴承性能影响的研究[J]. 现代制造, 2015(18): 160-162.
[15] Cheng X, Liu H, Song S. Reconfiguration of tightly-coupled redundant supporting structure in active magnetic bearings under the failures of electromagnetic actuators[J]. Journal of the International Journal of Applied Electromagnetics & Mechanics, 2017, 54(3): 421-432.
[16] 程鑫, 刘晗, 王博, 等. 基于双核处理器的主动磁悬浮轴承容错控制架构[J]. 山东大学学报(工学版), 2018, 48(2): 72-80.
[17] 胡俊, 胡业发, 程鑫, 等. 基于小波变换的磁悬浮轴承冗余位移传感器故障诊断方法[J]. 制造业自动化, 2017, 39(4): 79-83.
[2] Schroder P, Chipperfield A J, Felming P J. Fault tolerant control of active magnetic bearings[C]// International Symposium on Industrial Electronics. IEEE, 1998: 573-578.
[3] Li M H, Palazzolo A B, Kenny A. Fault-tolerant homopolar magnetic bearings[J]. IEEE Transactions on Magnetics, 2003, 40(5): 3308-3318.
[4] Na U J, Palazzolo A B. Optimized realization of fault-tolerant heteropolar magnetic bearings[J]. Vibration & Acoustics, 2000, 122(3): 209-221.
[5] Na U J. Fault tolerance of homopolar magnetic bearings[J]. Sound & Vibration, 2004, 272(3): 495-511.
[6] Na U J, Jin S W, Kang H O. Bidirectional homopolar magnetic bearings with fault tolerant capability[C]// Proceedings of the International Conference on Control, Automation and Systems. IEEE, 2007: 2254-2257.
[7] Jin S W, Na U J. Design of flux invariant, fault tolerant homopolar magnetic bearings[C]// Proceedings of the International Joint Conference. IEEE, 2007: 3470-3473.
[8] 吴步洲, 孙岩桦, 王世琥, 等. 径向电磁轴承线圈容错控制研究[J]. 机械工程学报, 2005, 41(6): 157-162.
[9] 景敏卿, 周健, 吴步洲, 等. 基于电流重新分配的电磁轴承的线圈容错控制[J]. 系统仿真学报, 2005, (s2): 121-124.
[10] 韩辅君, 房建成. 一种永磁偏置磁轴承容错方法的试验研究[J]. 机械工程学报, 2010, 46(20): 34-40.
[11] 崔东辉, 徐龙祥. 基于坐标变换的径向主动磁轴承容错控制[J]. 控制与决策, 2010, 25(9): 1420-1425.
[12] 崔东辉. 高可靠磁悬浮轴承系统关键技术研究[D]. 南京: 南京航空航天大学, 2010: 49-58.
[13] 耿青玲, 张黎. 电流再分配方法在弱耦合径向磁力轴承执行器容错控制中的应用[J]. 机械工程师, 2016(6): 105-108.
[14] 胡春桃. 执行器故障对磁力轴承性能影响的研究[J]. 现代制造, 2015(18): 160-162.
[15] Cheng X, Liu H, Song S. Reconfiguration of tightly-coupled redundant supporting structure in active magnetic bearings under the failures of electromagnetic actuators[J]. Journal of the International Journal of Applied Electromagnetics & Mechanics, 2017, 54(3): 421-432.
[16] 程鑫, 刘晗, 王博, 等. 基于双核处理器的主动磁悬浮轴承容错控制架构[J]. 山东大学学报(工学版), 2018, 48(2): 72-80.
[17] 胡俊, 胡业发, 程鑫, 等. 基于小波变换的磁悬浮轴承冗余位移传感器故障诊断方法[J]. 制造业自动化, 2017, 39(4): 79-83.