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主动磁悬浮轴承非奇异快速终端滑模转子位置控制

巩磊 何派 石勇 祝长生

巩磊, 何派, 石勇, 祝长生. 主动磁悬浮轴承非奇异快速终端滑模转子位置控制[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20240090
引用本文: 巩磊, 何派, 石勇, 祝长生. 主动磁悬浮轴承非奇异快速终端滑模转子位置控制[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20240090
GONG Lei, HE Pai, SHI Yong, ZHU Changsheng. Non-Singular Fast Terminal Sliding Mode Rotor Position Control of Active Magnetic Bearings[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20240090
Citation: GONG Lei, HE Pai, SHI Yong, ZHU Changsheng. Non-Singular Fast Terminal Sliding Mode Rotor Position Control of Active Magnetic Bearings[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20240090

主动磁悬浮轴承非奇异快速终端滑模转子位置控制

doi: 10.3969/j.issn.0258-2724.20240090
基金项目: 国家自然科学基金(52407059); 陕西省自然科学基础研究计划(2023-JC-QN-0441);海洋工程全国重点实验室(上海交通大学)专项经费号GKZD010089
详细信息
    作者简介:

    巩磊(1993—),男,讲师,研究方向为高速转子系统振动主动控制,E-mail:gong_lei@sust.edu.cn

  • 中图分类号: TH133.3

Non-Singular Fast Terminal Sliding Mode Rotor Position Control of Active Magnetic Bearings

  • 摘要:

    针对主动磁悬浮轴承转子位置控制中系统响应速度慢、抗干扰能力弱等问题,本文提出将非奇异快速终端滑模函数与改进超螺旋趋近律相结合的位置控制方法,以获得快速、精确的动态响应控制效果. 由于系统内扰和外扰的存在,需要对滑模趋近律增加常值切换增益以保证系统的强鲁棒性,但会使得系统抖振进一步变大,本文通过采用非线性扩张状态观测器对干扰进行实时观测并动态补偿,折衷了抖振与抗干扰性之间的矛盾;通过李雅普诺夫稳定性理论证明了所提方法的稳定性,并对提出的控制方法进行仿真与实验验证. 研究结果表明:与传统的滑模控制器相比,所设计的控制器具有更快的响应速度和更强的抖振抑制能力,转子达到目标位置的时间缩短了56.4%,系统动态性能得到改善;控制电流的平均值减小了68.5%,系统抑制抖振的能力增强,即算法具有较强的鲁棒性.

     

  • 图 1  单自由度AMBs系统原理

    Figure 1.  Principle of single-degree-of-freedom AMB system

    图 2  差动控制原理图

    Figure 2.  Principle of differential control

    图 3  非奇异快速终端滑模函数结构

    Figure 3.  Structure of non-singular fast terminal sliding mode function

    图 4  超螺旋趋近律结构

    Figure 4.  Structure of super-twisting reaching law

    图 5  AMBs系统相轨迹

    Figure 5.  Phase trajectory of AMB system

    图 6  不同带宽下的Bode图

    Figure 6.  Bode plots with different bandwidths

    图 7  NESO结构图

    Figure 7.  Structure of NESO

    图 8  AMBs系统整体控制结构

    Figure 8.  Overall control structure of AMB system

    图 9  转子起浮位移和电流信号

    Figure 9.  Displacement and current signal in case of rotor suspension

    图 10  正弦追踪中转子位移和电流信号

    Figure 10.  Displacement and current signal of rotor under sinusoidal trace

    图 11  方波追踪中转子位移和电流信号

    Figure 11.  Displacement and current signal of rotor under square wave trace

    图 12  ESO观测结果

    Figure 12.  Observation results with ESO

    图 13  集总干扰作用下转子起浮位移和电流信号

    Figure 13.  Displacement and current signal in case of rotor suspension under lumped interference

    图 14  NESO补偿后转子起浮位移和电流信号

    Figure 14.  Displacement and current signal in case of rotor suspension with NESO compensation

    图 15  磁悬浮高速电机转子系统实验平台

    Figure 15.  Experimental platform of rotor system with magnetic suspension high-speed motor

    图 16  转子起浮位移和电流信号

    Figure 16.  Displacement and current signal in case of rotor suspension

    图 17  扰动作用下转子起浮位移和电流信号

    Figure 17.  Displacement and current signal in case of rotor suspension under interference

    图 18  NESO补偿后转子起浮位移和电流信号

    Figure 18.  Displacement and current signal in case of rotor suspension with NESO compensation

    表  1  AMBs参数

    Table  1.   Parameters of AMBs

    参数
    磁极面积/mm2 720
    匝数/Turn 150
    气隙长度/mm 0.4
    偏置电流/A 2
    转子质量/Kg 15
    电流刚度系数/N/A 939.5
    位移刚度系数/N/mm 4697.5
    下载: 导出CSV

    表  2  控制器参数

    Table  2.   Parameters of controller

    控制器
    SNFTSMCk1=1、k2=0.1、k3=80、k4=50、a=2.5、b=1.5、γ=1.5、λ=1、η=0.5、M=15
    SMCk1=30、k2=50、c=10、M=15
    下载: 导出CSV
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出版历程
  • 收稿日期:  2024-02-27
  • 修回日期:  2024-06-13
  • 网络出版日期:  2024-11-15

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