高速磁悬浮电动机对拖试验中转子不平衡量在线辨识与振动控制
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摘要
针对高速磁悬浮电动机对拖试验中两台电动机转子轴不对中导致的转子不平衡振动加剧问题,提出一种基于简化广义陷波器的转子不平衡量在线辨识与振动控制方法,通过把联轴器之间的扰动力看作同频扰动,对电动机转子轴建立数学模型,采用简化广义陷波器对转子不平衡同频分量进行辨识作为位移补偿信号,使转子轴绕其惯性轴旋转,并使用广义根轨迹分析加入陷波补偿后磁轴承控制系统的稳定性和算法收敛性。电动机对拖试验结果表明:该方法有效地抑制了电动机转子轴的不平衡振动,保证了磁悬浮转子在对拖试验中高速稳定运行,在转子额定转速36 000 r/min时,转子位移跳动降低80%,控制电流峰峰值降低65%,同频振动减小为原来的28.7%,磁轴承系统的功耗也略有降低。
Because the two mass centers of motor rotors can hardly suspend along a straight line, unbalance vibration is intensified in the high-speed magnetically levitated motor drag experiment. The model of rotor shaft unbalance vibration is proposed by regarding the disturbing force between the couplings as the same-frequency disturbances. In order to make the rotor spin around its inertial axis, a generalized notch filter is used to identify the same-frequency component as displacement compensation signal. Experiment results demonstrate that the method has good inhibitory effect on the unbalance vibration of motor rotor, oscillations of rotor's position reduce by about 80% and control current peak-to-peak reduces by about 65%, synchronous vibration is reduced to the original 28.7% at the speed of 36 000 r/min. Power consumption is slightly lower and drag experiments can stable run at rated speed.
Because the two mass centers of motor rotors can hardly suspend along a straight line, unbalance vibration is intensified in the high-speed magnetically levitated motor drag experiment. The model of rotor shaft unbalance vibration is proposed by regarding the disturbing force between the couplings as the same-frequency disturbances. In order to make the rotor spin around its inertial axis, a generalized notch filter is used to identify the same-frequency component as displacement compensation signal. Experiment results demonstrate that the method has good inhibitory effect on the unbalance vibration of motor rotor, oscillations of rotor's position reduce by about 80% and control current peak-to-peak reduces by about 65%, synchronous vibration is reduced to the original 28.7% at the speed of 36 000 r/min. Power consumption is slightly lower and drag experiments can stable run at rated speed.
引文
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[3]HAN Bangcheng,ZHENG Shiqiang.Integral design and analysis of passive magnetic bearing and active radial magnetic bearing for agile satellite application[J].IEEE Transactions on Magnetics,2012,48(6):1959-1966.
[4]ZHENG Shiqiang,HAN Bancheng.Investigations of an integrated angular velocity measurement and attitude control system for spacecraft using magnetically suspended double-gimbal CMGs[J].Advances in Space Research,2013,51(12):2216-2228.
[5]施魏策尔,特拉克斯勒,布鲁勒.主动磁轴承基础、性能及应用[M].虞烈,袁崇军,译.北京:新时代出版社,1997.SCHWEITZER G,TRAXLER A,BLEULER H.Active Magnetic bearings-basics,properties and applications[M].Translated by YU Lie,YUAN Chongjun.Beijing:New Age Press,1997.
[6]NA H S,PARK Y.An adaptive feedforward controller for rejection of periodic disturbances[J].Journal of Sound and Vibration,1997,201(4):427-435.
[7]SHI J,ZMOOD R,QIN L.The indirect method for adaptive feed-forward vibration control of magnetic bearing systems[C]//Proceedings of the Eighth International Symposium on Magnetic Bearings.Mito,2002:223-228.
[8]刘彬,房建成,刘刚,等.磁悬浮飞轮不平衡振动控制方法与实验研究[J].机械工程学报,2010,46(12):188-194.LIU Bin,FANG Jiancheng,LIU Gang,et al.Unbalance vibration control and experiment research of magnetically suspended flywheels[J].Journal of Mechanical Engineering,2010,46(12):188-194.
[9]THOMAS C,WILFRIED H.Improving operational performance of active magnetic bearings using Kalman filter and state feedback control[J].IEEE Transactions on Industrial Electronics,2012,2(59):821-829.
[10]MATSUMURA F,NAMERIKAWA T,HAGIWARA K,et al.Application of gain scheduled H∞robust controllers to a magnetic bearing[J].IEEE Trans.on Control System Technology,1996,4(5):484-492
[11]HERZOG R,BUHLER P,GAHLER C,et al.Unbalance compensation using generalized notch filters in the multivariable feedback of magnetic bearings[J].IEEE Transactions on Control Systems Technology,1996,4(5):580-586.