无位移传感器磁悬浮轴承自检测系统研究
|
摘要
磁悬浮轴承是集机械学、转子动力学、控制理论与控制工程学于一体的机电产品。它是利用磁力的作用使转子与定子之间没有机械接触将转子悬浮于空中的一种轴承。与传统的轴承相比,具有无机械磨损、能耗低、无需润滑、寿命长等一系列优点,在能源交通、机械工业、航空航天等领域具有广泛的应用前景。
为了准确的测量气隙的变化,磁悬浮轴承需要用多个位移传感器,这样就使得轴承的硬件成本过高,另外位移传感器的存在,使得轴承的尺寸变大,整个系统的动态性能和可靠性都降低。由于系统结构的限制,位移传感器不能装在磁悬浮轴承的中间,使得系统控制器的设计变的复杂。因此,将无位移传感器磁悬浮轴承自检测技术应用于轴承转子悬浮的控制系统中,以此克服上述缺陷并降低轴承的成本是必要的。
本文介绍了无位移传感器磁悬浮轴承的基本原理,建立了转子单自由度的数学模型,得到了轴承线圈的电感特性。无位移传感器磁悬浮轴承自检测主要有差动变压器测试和小信号注入测试两种方法。由于差动变压器测试法的测试信号较难准确获取,而小信号注入测试法是在线性功放的输入端加入一高频小信号作为测试信号,通过对电磁线圈中电感的检测来获取转子的位移变化,因此具有检测信号简单、准确。
本文选用小信号注入测试法对自检测系统进行了较为深入研究,建立了系统所需的软、硬件结构,其中软件设计主要针对适用于自检测系统的模糊自适应整定PID控制器,硬件设计主要针对自检测系统的检测电路及连续线性功率放大器,最后对其进行了仿真及调试。
Magnetic Bearing is a electromechanical product, which involves mechanics, rotor dynamics, control theory and control engineering. It is a kind of bearing making use of magnetic force to suspend the rotor in the air without mechanical contact between rotor and stator. Compared with the conventional bearings, it has a series of merits such as no mechanical wear, low energy consumption, no lubrication, long life and so on, and has a broad application foreground in energy, transportation, machinery, aerospace and other fields.
In order to accurately measure changes in air gap, magnetic bearing needs more displacement sensors, which makes the cost much high, the size larger and the dynamic performance and reliability of the whole system both decrease. Due to the limitation of the system structure, displacement sensor can not be installed in the middle of magnetic bearing making the system controller design become complicated. Therefore, It is necessary to apply self-sensing technology in magnetic bearing without displacement sensor into the bearing rotor suspension control system, which can overcome these deficiencies and reduce the cost of bearing.
The paper introduces the basic theory of magnetic bearing without displacement sensor, sets up math model of rotor with single freedom and finds inductance of the bearing windings. There mostly are two methods in self-sensing of magnetic bearing without displacement sensor, differential transformer and small test-signal injection. Test-signal is rather hard to capture adopting the former one, but the later one is simple and the detecting-signal is accurate that when a small magnitude signal is injected into the input of the linear power amplifier, rotor displacement change information can be acquired by detecting inductance of electromagnatiam windings.
The small-signal injection self-detecting system is studied thoroughly in the paper, and sets up software and hardware sructure of the system. Software design mainly aims at fuzzy adaptive PID controller applied in self-detecting system, and hardware design aims at detecting circuit and the continuous linear power amplifier. Finally simulation and debugging of the system are carried out.
为了准确的测量气隙的变化,磁悬浮轴承需要用多个位移传感器,这样就使得轴承的硬件成本过高,另外位移传感器的存在,使得轴承的尺寸变大,整个系统的动态性能和可靠性都降低。由于系统结构的限制,位移传感器不能装在磁悬浮轴承的中间,使得系统控制器的设计变的复杂。因此,将无位移传感器磁悬浮轴承自检测技术应用于轴承转子悬浮的控制系统中,以此克服上述缺陷并降低轴承的成本是必要的。
本文介绍了无位移传感器磁悬浮轴承的基本原理,建立了转子单自由度的数学模型,得到了轴承线圈的电感特性。无位移传感器磁悬浮轴承自检测主要有差动变压器测试和小信号注入测试两种方法。由于差动变压器测试法的测试信号较难准确获取,而小信号注入测试法是在线性功放的输入端加入一高频小信号作为测试信号,通过对电磁线圈中电感的检测来获取转子的位移变化,因此具有检测信号简单、准确。
本文选用小信号注入测试法对自检测系统进行了较为深入研究,建立了系统所需的软、硬件结构,其中软件设计主要针对适用于自检测系统的模糊自适应整定PID控制器,硬件设计主要针对自检测系统的检测电路及连续线性功率放大器,最后对其进行了仿真及调试。
Magnetic Bearing is a electromechanical product, which involves mechanics, rotor dynamics, control theory and control engineering. It is a kind of bearing making use of magnetic force to suspend the rotor in the air without mechanical contact between rotor and stator. Compared with the conventional bearings, it has a series of merits such as no mechanical wear, low energy consumption, no lubrication, long life and so on, and has a broad application foreground in energy, transportation, machinery, aerospace and other fields.
In order to accurately measure changes in air gap, magnetic bearing needs more displacement sensors, which makes the cost much high, the size larger and the dynamic performance and reliability of the whole system both decrease. Due to the limitation of the system structure, displacement sensor can not be installed in the middle of magnetic bearing making the system controller design become complicated. Therefore, It is necessary to apply self-sensing technology in magnetic bearing without displacement sensor into the bearing rotor suspension control system, which can overcome these deficiencies and reduce the cost of bearing.
The paper introduces the basic theory of magnetic bearing without displacement sensor, sets up math model of rotor with single freedom and finds inductance of the bearing windings. There mostly are two methods in self-sensing of magnetic bearing without displacement sensor, differential transformer and small test-signal injection. Test-signal is rather hard to capture adopting the former one, but the later one is simple and the detecting-signal is accurate that when a small magnitude signal is injected into the input of the linear power amplifier, rotor displacement change information can be acquired by detecting inductance of electromagnatiam windings.
The small-signal injection self-detecting system is studied thoroughly in the paper, and sets up software and hardware sructure of the system. Software design mainly aims at fuzzy adaptive PID controller applied in self-detecting system, and hardware design aims at detecting circuit and the continuous linear power amplifier. Finally simulation and debugging of the system are carried out.
引文
[1]G.Schweiter,H.Bleuler,A.Traxler.Active Magnetic Bearings--Basics,Properties and Application of Active magnetic Bearings.Switzerland:ETH,1994:12-16
[2]曾励,宋爱平,朱永伟.自检测磁悬浮轴承系统的研究.现代制造工程.2003(5):15-17
[3]杨静,何钦象,张华容等.自感式磁浮轴承位置传感器.振动﹑测试与诊断.2003,23(02):114-115
[4]李益民,陈芳,章婷等.互感式自检测磁悬浮轴承系统的检测原理研究.机械.2002,29(06):58-60
[5]黄德中.磁悬浮轴承研究的现状与发展.机床与液压.2003(6):19-21
[6]W.P.Kelleher,A.S.Kondoleon.A Magnetic Bearing Suspension System for High Temperature Gas Turbine Applications.Alexandria:Proceedings of MAG,1997:15-24
[7]汪通悦,陈辽军,周峰,康志军,曾励.磁浮轴承的技术进展.机械制造.2002,7:21-23
[8]陈易新,胡业发,杨恒明等.机床主轴可控磁力轴承的结构分析与设计.机床与液压.1988:2-8
[9]陈易新,胡业发,杨恒明等.轴向磁力轴承控制系统的计算机辅助分析.机床与液压.1988:8-16
[10]徐龙祥,朱熀秋，曾学明等．基于DSP的混合磁悬浮轴承数字控制器的设计与实现.数据采集与处理.2000,2:213-216
[11]徐龙祥,朱熀秋，曾学明等．单自由度混合磁悬浮轴承控制系统腜偷难芯浚暇耗暇┖娇蘸?天大学学报,1998,6:685-690
[12]《磁悬浮轴承系统的机理研究》鉴定材料.南京:南京航空航天大学机电学院,1999,12:7-10
[13]G.Schweiter,H.Bleuler,A.Traxler著,虞烈,袁崇军译.主动磁轴承基础性能及应用.北京:新时代出版社,1997(3):2-8
[14]Chicara Murakami.Digital Control of Conical Motion of High Speed Rotors Suspended by Magnetic Bearings in case of Large Sampling Period.Proc.of 4th International Symposium on Magnetic Bearings ETH Zurich,1994,8:23-26
[15]刘迎澎,黄田.磁悬浮轴承研究综述.机械工程学报,2000,36(11):5-9
[16]Mastuda K,et al.Self-sensing magnetic bearings using the differential transformer principle.Journal of JSME,Series C,1997,63(609):1441-1447
[17]Noh M D,Malsen E H.Self-sensing magnetic bearings using parameter estimation.IEEE Transactions on Instrumentation and Measurement,1997,46(1):45-50
[18]Sivadasan K K.Analysis of self-sensing active magnetic bearings working on inductance measurement principle.IEEE Transactions on Magnetics,1996,32(2):329-334
[19]Vischer D,Bleuler H.Self-sensing active magnetic levitation.IEEE Transaction on Magnetics,1993,29(2):1276-1281
[20]王军.无传感器磁悬浮轴承的研究.学位论文.南京:南京航空航天大学硕士,2005:7-8
[21]李俊华.数控磁悬浮球系统的研究与实现.学位论文.南京:南京航空航天大学硕士,2004:8-11
[22]徐龙祥,欧阳祖行等.机械设计.北京:航空工业出版社,1999,1:34-57
[23]谢振宇,丘大谋,虞烈.电磁轴承的线圈绕制与功率放大器型式.机械科学与技术,1999,18(4):615-616
[24]V.M.G.Van Acht.On self-sensing magnetic levitated systems.proc.2nd int.symp,2000:539-547
[25]K.K.Sivadasan.Analysis of self-sensing Active Magnetic bearings working on Inductance Measuremnt Principle.IEEE trans.On magnetics,vol.32,1996:329-334
[26]Ken-ichi Matsuda,Yohji Okada.Self-sensing magnetic bearing using the principle of Differential Transformer.Fifth international symp.on magntic bearing,1996:107-112
[27]李士勇.模糊控制.神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998:33-58
[28]刘曙光,魏俊民,竺志超.模糊控制技术.北京:中国纺织出版社,2001,6:59-84
[29]孙增圻等,智能控制理论与技术.北京:清华大学出版社,1997:52-62
[30]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003,1:67-70
[31]苏薇.模糊PID的研究.工业仪表与自动化装置,2001,2:23-42
[32]齐建玲,王江.一种新型模糊PID控制器.仪器仪表学报,2001,8:17-39
[33]刘和平,严利平,张学锋等.TMS320LF240xDSP结构、原理及应用.北京:北京航天航空大学出版社,2002:23-68
[34]康华光.电子技术基础.北京:高等教育出版社,1999,6:396-402
[35]韩叶祥,朱兆优,张斌.基于MAX038的程控函数信号发生器的设计.电子元器件应用,2008,5:22-25
[36]余茂生.基于MAX038的数字函数信号发生器设计.福建电脑,2008,10:145-146
[37]包本刚,刘晓晖,罗伟民等.基于MAX038信号发生器的嵌入式设计.湖南科技学院学报,2008,8:26-27
[38]马库斯(Markus,J.).电子电路大全卷4专用电路.北京:计量出版社,1985,10:246-287
[39]范东浩.磁悬浮轴承差动变压器式自检测原理的研究.学位论文.南京:南京航空航天大学硕士,2006,3:30-40
[40]汪希平,袁崇军,谢友柏.电磁轴承系统的控制策略与功放电路的设计.西安交通大学学报,1995,29(12):68-74
[41]谢振宇,张锁怀,丘大谋,谢友柏.电磁轴承功率放大器的局部校正设计方法.轴承.1999,5:5-8
[42]张德魁,赵雷,赵鸿宾.电流响应速度及力响应速度对磁轴承系统性能的影响.清华大学学报(自然科学版),2001,41(6):23-26
[43]段开波.用于磁悬浮轴承系统的差动变压器式位移传感器.学位论文.南京:南京航空航天大学硕士,1999,3:33-45
[44]李永平,董欣.PSPICE电路原理与实现.北京:国防工业出版社,2004:3-15
[45]李永平,董欣.PSPICE电路优化程序设计.北京:国防工业出版社,2004:77-156
[46]戚新波,刘宏飞,郑先锋等.电路的计算机辅助分析——MATLAB与PSPICE应用技术.北京:电子工业出版社,2006:13-16
[47]李宜达.控制系统设计与仿真.北京:清华大学出版社,2004:268-277
[48]张志涌.精通MATLAB6.5版.北京:北京航空航天大学出版社,2003:360-398
[49]钟庆昌,于淑红,谢剑英.控制系统SIMULINK仿真技巧.电气自动化,1999,1:28-30
[50]飞思科技产品研发中心.MATLAB7辅助控制系统设计与仿真.北京:电子工业出版社,2005,3:1-8
[2]曾励,宋爱平,朱永伟.自检测磁悬浮轴承系统的研究.现代制造工程.2003(5):15-17
[3]杨静,何钦象,张华容等.自感式磁浮轴承位置传感器.振动﹑测试与诊断.2003,23(02):114-115
[4]李益民,陈芳,章婷等.互感式自检测磁悬浮轴承系统的检测原理研究.机械.2002,29(06):58-60
[5]黄德中.磁悬浮轴承研究的现状与发展.机床与液压.2003(6):19-21
[6]W.P.Kelleher,A.S.Kondoleon.A Magnetic Bearing Suspension System for High Temperature Gas Turbine Applications.Alexandria:Proceedings of MAG,1997:15-24
[7]汪通悦,陈辽军,周峰,康志军,曾励.磁浮轴承的技术进展.机械制造.2002,7:21-23
[8]陈易新,胡业发,杨恒明等.机床主轴可控磁力轴承的结构分析与设计.机床与液压.1988:2-8
[9]陈易新,胡业发,杨恒明等.轴向磁力轴承控制系统的计算机辅助分析.机床与液压.1988:8-16
[10]徐龙祥,朱熀秋，曾学明等．基于DSP的混合磁悬浮轴承数字控制器的设计与实现.数据采集与处理.2000,2:213-216
[11]徐龙祥,朱熀秋，曾学明等．单自由度混合磁悬浮轴承控制系统腜偷难芯浚暇耗暇┖娇蘸?天大学学报,1998,6:685-690
[12]《磁悬浮轴承系统的机理研究》鉴定材料.南京:南京航空航天大学机电学院,1999,12:7-10
[13]G.Schweiter,H.Bleuler,A.Traxler著,虞烈,袁崇军译.主动磁轴承基础性能及应用.北京:新时代出版社,1997(3):2-8
[14]Chicara Murakami.Digital Control of Conical Motion of High Speed Rotors Suspended by Magnetic Bearings in case of Large Sampling Period.Proc.of 4th International Symposium on Magnetic Bearings ETH Zurich,1994,8:23-26
[15]刘迎澎,黄田.磁悬浮轴承研究综述.机械工程学报,2000,36(11):5-9
[16]Mastuda K,et al.Self-sensing magnetic bearings using the differential transformer principle.Journal of JSME,Series C,1997,63(609):1441-1447
[17]Noh M D,Malsen E H.Self-sensing magnetic bearings using parameter estimation.IEEE Transactions on Instrumentation and Measurement,1997,46(1):45-50
[18]Sivadasan K K.Analysis of self-sensing active magnetic bearings working on inductance measurement principle.IEEE Transactions on Magnetics,1996,32(2):329-334
[19]Vischer D,Bleuler H.Self-sensing active magnetic levitation.IEEE Transaction on Magnetics,1993,29(2):1276-1281
[20]王军.无传感器磁悬浮轴承的研究.学位论文.南京:南京航空航天大学硕士,2005:7-8
[21]李俊华.数控磁悬浮球系统的研究与实现.学位论文.南京:南京航空航天大学硕士,2004:8-11
[22]徐龙祥,欧阳祖行等.机械设计.北京:航空工业出版社,1999,1:34-57
[23]谢振宇,丘大谋,虞烈.电磁轴承的线圈绕制与功率放大器型式.机械科学与技术,1999,18(4):615-616
[24]V.M.G.Van Acht.On self-sensing magnetic levitated systems.proc.2nd int.symp,2000:539-547
[25]K.K.Sivadasan.Analysis of self-sensing Active Magnetic bearings working on Inductance Measuremnt Principle.IEEE trans.On magnetics,vol.32,1996:329-334
[26]Ken-ichi Matsuda,Yohji Okada.Self-sensing magnetic bearing using the principle of Differential Transformer.Fifth international symp.on magntic bearing,1996:107-112
[27]李士勇.模糊控制.神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1998:33-58
[28]刘曙光,魏俊民,竺志超.模糊控制技术.北京:中国纺织出版社,2001,6:59-84
[29]孙增圻等,智能控制理论与技术.北京:清华大学出版社,1997:52-62
[30]刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003,1:67-70
[31]苏薇.模糊PID的研究.工业仪表与自动化装置,2001,2:23-42
[32]齐建玲,王江.一种新型模糊PID控制器.仪器仪表学报,2001,8:17-39
[33]刘和平,严利平,张学锋等.TMS320LF240xDSP结构、原理及应用.北京:北京航天航空大学出版社,2002:23-68
[34]康华光.电子技术基础.北京:高等教育出版社,1999,6:396-402
[35]韩叶祥,朱兆优,张斌.基于MAX038的程控函数信号发生器的设计.电子元器件应用,2008,5:22-25
[36]余茂生.基于MAX038的数字函数信号发生器设计.福建电脑,2008,10:145-146
[37]包本刚,刘晓晖,罗伟民等.基于MAX038信号发生器的嵌入式设计.湖南科技学院学报,2008,8:26-27
[38]马库斯(Markus,J.).电子电路大全卷4专用电路.北京:计量出版社,1985,10:246-287
[39]范东浩.磁悬浮轴承差动变压器式自检测原理的研究.学位论文.南京:南京航空航天大学硕士,2006,3:30-40
[40]汪希平,袁崇军,谢友柏.电磁轴承系统的控制策略与功放电路的设计.西安交通大学学报,1995,29(12):68-74
[41]谢振宇,张锁怀,丘大谋,谢友柏.电磁轴承功率放大器的局部校正设计方法.轴承.1999,5:5-8
[42]张德魁,赵雷,赵鸿宾.电流响应速度及力响应速度对磁轴承系统性能的影响.清华大学学报(自然科学版),2001,41(6):23-26
[43]段开波.用于磁悬浮轴承系统的差动变压器式位移传感器.学位论文.南京:南京航空航天大学硕士,1999,3:33-45
[44]李永平,董欣.PSPICE电路原理与实现.北京:国防工业出版社,2004:3-15
[45]李永平,董欣.PSPICE电路优化程序设计.北京:国防工业出版社,2004:77-156
[46]戚新波,刘宏飞,郑先锋等.电路的计算机辅助分析——MATLAB与PSPICE应用技术.北京:电子工业出版社,2006:13-16
[47]李宜达.控制系统设计与仿真.北京:清华大学出版社,2004:268-277
[48]张志涌.精通MATLAB6.5版.北京:北京航空航天大学出版社,2003:360-398
[49]钟庆昌,于淑红,谢剑英.控制系统SIMULINK仿真技巧.电气自动化,1999,1:28-30
[50]飞思科技产品研发中心.MATLAB7辅助控制系统设计与仿真.北京:电子工业出版社,2005,3:1-8