磁轴承变饱和柔性变结构控制
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摘要
采用磁轴承取代传统机械轴承,可消除飞轮储能装置机械摩擦,提高转子临界转速.针对磁轴承控制系统响应快、运行稳定的要求,设计了一种变饱和柔性变结构控制器.根据磁轴承的基本结构与悬浮力模型,建立了系统的状态方程;通过有限元仿真,分析了磁轴承耦合性,确定了系统基本控制方案;将柔性变结构和变饱和项结合,当系统存在较大偏差时只通过线性控制器调节,在中等偏差时通过线性控制器和变饱和状态控制器一起调节,在小偏差时由线性控制器和变饱和状态控制器转变的线性控制器一起调节.仿真与实验结果表明,变饱和柔性变结构控制满足实时控制的要求,磁轴承控制系统具有较快的响应速度和较高的运行稳定性.
Using the magnetic bearing to replace the mechanical bearing can eliminate the mechanical friction and increase the critical speed of a flywheel energy storage system(FESS). In this paper, the variable saturation soft variable structure(VSSVS) is applied to realize fast response and stable operation of the FESS. According to the basic structure of the magnetic bearing, an equivalent magnetic circuit method is applied to develop the mathematical model of suspension force and the state-space equation. Based on finite element analysis, the coupling characteristics are analyzed and the basic control scheme of the system is established. For the large state vectors, a linear control is employed to regulate, for the moderate state vectors, the nonlinear component is blended into the control signal and for the small state vectors, the nonlinear component becomes linear component, and regulation is accomplished employing two linear controllers. The results show that the VSSVS controller meets the control requirements of the magnetic bearing system.
Using the magnetic bearing to replace the mechanical bearing can eliminate the mechanical friction and increase the critical speed of a flywheel energy storage system(FESS). In this paper, the variable saturation soft variable structure(VSSVS) is applied to realize fast response and stable operation of the FESS. According to the basic structure of the magnetic bearing, an equivalent magnetic circuit method is applied to develop the mathematical model of suspension force and the state-space equation. Based on finite element analysis, the coupling characteristics are analyzed and the basic control scheme of the system is established. For the large state vectors, a linear control is employed to regulate, for the moderate state vectors, the nonlinear component is blended into the control signal and for the small state vectors, the nonlinear component becomes linear component, and regulation is accomplished employing two linear controllers. The results show that the VSSVS controller meets the control requirements of the magnetic bearing system.
引文
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[16]陈峻峰,刘昆,肖凯.磁悬浮储能飞轮线性变参数鲁棒增益调度控制[J].控制理论与应用,2011,28(11):1641–1644.(CHEN Junfeng,LIU Kun,XIAO Kai.Linear parameter-varying gain-scheduled robust control for active magnetic bearings of flywheel energy storage system[J].Control Theory&Applications,2011,28(11):1641–1644.)
[17]ADAMY J,FLEMING A.Soft structure controls:a survey[J].Automatica,2004,40(11):1821–1824.
[18]张鹏,李颖辉,赵鹍.变饱和柔性变结构控制系统设计[J].系统仿真学报,2008,20(4):3790–3795.(ZHANG Peng,LI Yinghui,ZHAO He.Soft variable structure control with variable saturation[J].Journal of System Simulation,2008,20(4):3790–3795.)
[19]李凤祥,袁野,姜阳华.多相无刷直流电机变饱和柔性变结构控制器设计[J].控制工程,2014,21(1):94–98.(LI Fengxiang,YUAN Ye,JIANG Yanghua.Design of variable saturation soft variable structure controller for multiphase brushless DC motors[J].Control Engineering of China,2014,21(1):94–98.)
[2]NGUYEN T,FOO G.Sensorless control of a dual-airgap axial flux permanent magnet machine for flywheel energy storage system[J].IET Electric Power Applications,2013,7(2):140–149.
[3]张维煜,朱熀秋.飞轮储能关键技术及其发展现状[J].电工技术学报,2011,26(7):141–146.(ZHANG Weiyu,ZHU Huangqiu.Key technologies and develop-ment status of flywheel energy storage system[J].Transactions of China Electrotechnical Society,2011,26(7):141–146.)
[4]孙玉坤,吴建兵,项倩雯.基于有限元法的磁悬浮开关磁阻电机数学模型[J].中国电机工程学报,2007,27(12):33–40.(SUN Yukun,WU Jianbing,XIANG Qianwen.The mathematic model of bearingless switched reluctance motor based on the finiteelement analysis[J].Proceedings of the CSEE,2007,27(12):33–40.)
[5]TAKEMOTO M,CHIBA A,AKAGI H,et al.Radial f force and torque of a bearingless switched reluctance motor operating in a region of magnetic saturation[J].IEEE Transactions on Industry Applications,2004,40(1):103–112.
[6]曹鑫,邓智泉,杨钢.无轴承开关磁阻电机麦克斯韦应力法数学模型[J].中国电机工程学报,2009,29(3):78–83.(CAO Xin,DENG Zhiquan,YANG Gang.Mathematical model of bearingless switched reluctance motors based on maxwell stress tensor method[J].Proceedings of the CSEE,2009,29(3):78–83.)
[7]赵旭升,邓智泉,王晓琳,等.永磁偏置磁轴承的研究现状及其发展[J].电工技术学报,2009,24(9):9–20.(ZHAO Xusheng,DENG Zhiquan,WANG Xiaolin,et al.Research status and development of permanent magnet biased magnetic bearings[J].Transactions of China Electrotechnical Society,2009,24(9):9–20.)
[8]FANG J C,WANG X,WEI T,et al.Homopolar 2-pole radial permanent-magnet biased magnetic bearing with low rotating loss[J].IEEE Transactions on Magnetics,2012,48(8):2293–2303.
[9]朱熀秋,邓智泉,袁寿其,等.永磁偏置径向―轴向磁悬浮轴承工作原理和参数设计[J].中国电机工程学报,2002,22(9):54–58.(ZHU Huangqiu,DENG Zhiquan,YUAN Shouqi,et al.The working principle and parameter design foe permanent magnet biased radialaxial direction magnetic bearing[J].Proceedings of the CSEE,2002,22(9):54–58.)
[10]孙玉坤,朱熀秋,蔡兰.三自由度混合磁悬浮轴承耦合特性[J].江苏大学学报,2006,27(4),342–346.(SUN Yukun,ZHU Huangqiu,CAI Lan.Coupling characteristics of hybrid magnetic bearings with three-degree of freedoms[J].Journal of Jiangsu University,2006,27(4),342–346.)
[11]HOU E Y,LIU K.Investigation of axial carrying capacityof radial hybrid magnetic bearing[J].IEEE Transactions on Magnetics,2012,48(1):38–46.
[12]胡汗平,吴晓刚,李德华,等.基于遗传算法的模糊控制系统[J].电子学报,2000,28(7):123–126.(HU Hanping,WU Xiaogang,LI Dehua,et al.Fuzzy control system based on genetic algorithm[J].Chinese of Journal Electronics,2000,28(7):123–126.)
[13]纪志成,沈艳霞,姜建国.一种新型的无刷直流电机调速系统的模糊PI智能控制[J].电机与控制学报,2003,15(12):1745–1748.(JI Zhicheng,SHENG Yanxia,JIANG Jianguo.A novel fuzzy PI intelligent control method of BLDCM speed servo systerm[J].Electric Machines and Control,2003,15(12):1745–1748.)
[14]罗予晋,邢藏菊,王守觉.人工神经网络控制的实时仿真系统[J].电子学报,2001,29(8):1061–1064.(LUO Yujing,XING Cangju,WANG Shoujue.The real time emulation system of artificial neural networks control[J].Acta Electronica Sinica,2001,29(8):1061–1064.)
[15]朱熀秋,李媛媛.二自由度交流主动磁轴承最小二乘支持向量机解耦控制[J].控制理论与应用,2013,30(11):1479–1485.(ZHU Huangqiu,LI Yuanyuan.Decoupling control of 2 degreesof-freedom alternating current active magnetic bearing using least squares support vector machines[J].Control Theory&Applications,2013,30(11):1479–1485.)
[16]陈峻峰,刘昆,肖凯.磁悬浮储能飞轮线性变参数鲁棒增益调度控制[J].控制理论与应用,2011,28(11):1641–1644.(CHEN Junfeng,LIU Kun,XIAO Kai.Linear parameter-varying gain-scheduled robust control for active magnetic bearings of flywheel energy storage system[J].Control Theory&Applications,2011,28(11):1641–1644.)
[17]ADAMY J,FLEMING A.Soft structure controls:a survey[J].Automatica,2004,40(11):1821–1824.
[18]张鹏,李颖辉,赵鹍.变饱和柔性变结构控制系统设计[J].系统仿真学报,2008,20(4):3790–3795.(ZHANG Peng,LI Yinghui,ZHAO He.Soft variable structure control with variable saturation[J].Journal of System Simulation,2008,20(4):3790–3795.)
[19]李凤祥,袁野,姜阳华.多相无刷直流电机变饱和柔性变结构控制器设计[J].控制工程,2014,21(1):94–98.(LI Fengxiang,YUAN Ye,JIANG Yanghua.Design of variable saturation soft variable structure controller for multiphase brushless DC motors[J].Control Engineering of China,2014,21(1):94–98.)