基于零偏置电流的磁悬浮电主轴动不平衡力抑制
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摘要
磁悬浮系统在偏置电流控制策略下会产生高功耗,造成温升、热变形以及传感器的温漂等,影响转子的悬浮精度。此外,由于动不平衡力、传感器测量失真以及电机偏心磁拉力等因素影响,会引起转速的同频和倍频振动。该文在传统的零偏置电流控制基础上,提出了基于多频率陷波器的动不平衡力抑制策略。首先,利用零偏置电流控制策略来降低磁轴承功耗,针对零偏置电流策略带来的系统非线性,将电流到位移的非线性系统转化为电磁力到位移的线性系统,再采用线性控制策略设计位移控制器。其次,在零偏置电流策略的基础上,引入多频率陷波器来抑制转子的同频与倍频振动。通过实验对比了不开启同频陷波器控制、仅开启同频陷波器控制以及开启多频率陷波器控制3种情况,验证了所提出的多频率陷波器策略能够有效抑制转子的同频与倍频振动。该方法不仅有效地抑制了转子的周期性振动,还大大降低了磁轴承功耗。
Biased current control consumes large amounts of power which increases system temperatures and causes temperature drift in sensors which then affects the levitation accuracy. The rotor suspension is also affected by unbalanced forces,sensor runout and other effects which lead to vibrations. This paper presents a zero-bias current strategy based on a multiple frequency notch filter.The zero-bias current control algorithm reduces the power consumption,handles the nonlinearities in the zero-bias current strategy,and translates the nonlinear relationship between the current and the displacement into a linear relationship between the magnetic force and the displacement so that a linear control strategycan be used.The multiple frequency notch filter then suppresses the vibrations.Three controllers are analyzed in tests with no unbalanced control,only single frequency notch filter control and multiple frequency notch filter control to verify the system effectiveness.The method not only suppresses the vibrations,but also significantly reduces the power consumption.
Biased current control consumes large amounts of power which increases system temperatures and causes temperature drift in sensors which then affects the levitation accuracy. The rotor suspension is also affected by unbalanced forces,sensor runout and other effects which lead to vibrations. This paper presents a zero-bias current strategy based on a multiple frequency notch filter.The zero-bias current control algorithm reduces the power consumption,handles the nonlinearities in the zero-bias current strategy,and translates the nonlinear relationship between the current and the displacement into a linear relationship between the magnetic force and the displacement so that a linear control strategycan be used.The multiple frequency notch filter then suppresses the vibrations.Three controllers are analyzed in tests with no unbalanced control,only single frequency notch filter control and multiple frequency notch filter control to verify the system effectiveness.The method not only suppresses the vibrations,but also significantly reduces the power consumption.
引文
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[12]CUI P,LI S,WANG Q R,et al.Harmonic current suppression of an AMB rotor system at variable rotation speed based on multiple phase-shift notch filters[J].IEEE Transactions on Industrial Electronics,2016,63(11):6962-6969.
[13]DARBANDI S M,BEHZAD M,SALARIEH H,et al.Harmonic disturbance attenuation in a three-pole active magnetic bearing test rig using a modified notch filter[J].Journal of Vibration and Control,2015,11(4):46-51.
[2]卞斌.基于DSP平台的磁悬浮轴承数字控制系统[D].济南:山东大学,2012.BIAN B.Digital control system of active magnetic bearing based on DSP platform[D].Ji’nan:Shandong University,2012.(in Chinese)
[3]吴华春,胡业发.磁悬浮磨削主轴热态特性[J].机械工程学报,2010,46(20):29-33.WU H C,HU Y F.Thermal characteristics of magnetic levitated grinding spindle[J].Journal of Mechanical Engineering,2010,46(20):29-33.(in Chinese)
[4]张亮.磁悬浮电主轴温度场的仿真与实验[D].武汉:武汉理工大学,2015.ZHANG L.Simulation and experiment of temperature field for active magnetic bearing[D].Wuhan:Wuhan University of Technology,2015.(in Chinese)
[5]CHARARA A,DE MIRAS J,CARON B.Nonlinear control of a magnetic levitation system without premagnetization[J].IEEE Transactions on Control Systems Technology,1996,4(5):513-523.
[6]SIVRIOGLU S,NONAMI K,SAIGO M.Low power consumption nonlinear control with H∞compensator for a zero-bias flywheel AMB system[J].Journal of Vibration and Control,2004,10(8):1151-1166.
[7]张剀,赵雷,赵鸿宾.磁悬浮飞轮低功耗控制方法仿真研究[J].清华大学学报(自然科学版),2004,44(3):301-303.ZHANG K,ZHAO L,ZHAO H B.Zero-power control method for a flywheel suspended by active magnetic bearings[J].Journal of Tsinghua University(Science and Technology),2004,44(3):301-303.(in Chinese)
[8]JASTRZEBSKI R P,SMIRNOV A,MYSTKOWSKI A,et al.Cascaded position-flux controller for an AMB system operating at zero bias[J].Energies,2014,7(6):3561-3575.
[9]CUI P L,WANG Q,LI S,et al.Combined FIR and fractional-order repetitive control for harmonic current suppression of magnetically suspended rotor system[J].IEEE Transactions on Industrial Electronics,2017,64(6):4828-4835.
[10]SHI J,ZMOOD R,QIN L.Synchronous disturbance attenuation in magnetic bearing systems using adaptive compensating signals[J].Control Engineering Practice,2004,12(3):283-290.
[11]HERZOG R,BHLER P,GHLER C,et al.Unbalance compensation using generalized notch filters in the multivariable feedback of magnetic bearings[J].IEEETransactions on Control Systems Technology,1996,4(5):580-586.
[12]CUI P,LI S,WANG Q R,et al.Harmonic current suppression of an AMB rotor system at variable rotation speed based on multiple phase-shift notch filters[J].IEEE Transactions on Industrial Electronics,2016,63(11):6962-6969.
[13]DARBANDI S M,BEHZAD M,SALARIEH H,et al.Harmonic disturbance attenuation in a three-pole active magnetic bearing test rig using a modified notch filter[J].Journal of Vibration and Control,2015,11(4):46-51.