基于复数相移陷波的磁悬浮转子系统自平衡控制

为抑制磁悬浮转子系统的不平衡振动力, 提出了一种基于复数相移陷波器和前馈控制的自平衡控制算法。介绍了磁悬浮转子系统的结构和工作原理, 给出了含转子不平衡的磁悬浮转子系统动力学模型, 分析了不平衡振动力的电气特性。推导了不平衡振动力的抑制条件, 指出功率放大器引起的幅值和相位误差是影响不平衡振动抑制效果的主要因素。将磁悬浮转子两自由度平动方程转换为单自由度复数方程, 设计了复数相移陷波器, 建立数学方程并讨论了中心频率的幅值和相位特性。最后以磁悬浮控制力矩陀螺为测试平台, 对提出的控制算法进行了实验验证。结果表明: 采用该算法后不平衡振动力减小了94.1%, 验证了该算法的有效性。此外本算法还具有动态过程平滑、计算量少等优点。

Abstract

To suppress the imbalance force in magnetically suspended rotor systems, an autobalancing control strategy based on a plural phase-shift notch filter and feedforward control method was proposed. The structure and working principle of a suspended rotor system were introduce, and a model of the magnetically suspended rotor system with rotor imbalance was described. The electrical characteristic of the imbalance force was analyzed. Then, the condition to suppress the imbalance force was calculated and the result shows that the suppression errors are mainly caused by the amplitude error and phase error from power amplifiers. By transforming the two degrees-of-freedom translational motions into a single degree-of-freedom plural equation, a plural phase-shift notch filter was proposed. Its math equations were formulated, and the notch features of the amplitude and phase were discussed. Finally, the proposed strategy was tested and verified on a magnetically suspended control moment gyro test platform. The experimental results indicate that the imbalance force has been suppressed by 94.2% with the proposed strategy, which verifies the effectiveness of the proposed control strategy. Moreover, the proposed control strategy is characterized by smooth dynamic processing and a light computational load.

参考文献

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徐向波, 陈劭, 张亚楠. 基于复数相移陷波的磁悬浮转子系统自平衡控制[J]. 光学精密工程, 2016, 24(4): . XU Xiang-bo, CHEN Shao, ZHANG Ya-nan. Autobalancing control of magnetically suspended motor systems based on plural phase-shift notch filter[J]. Optics and Precision Engineering, 2016, 24(4): .

基于复数相移陷波的磁悬浮转子系统自平衡控制

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