论文部分内容阅读
在比例-积分-微分(PID)控制的基础上加入扰动补偿环节,设计了五自由度磁悬浮轴承的扰动补偿控制系统.通过对转子运动模型的分析,修正并得到了更为精确的磁悬浮轴承扰动观测器模型.对离散化的扰动观测器进行了稳定性分析和参数整定方法研究,进而使扰动观测器的参数整定过程更为规范与便捷.实验结果表明:在PID控制基础上加入扰动补偿控制,转子受扰自由度的位移波动分别减小了38.7%和67%,转子在20 000r/min转速下的轴心运动轨迹波动减小了21%,从而验证了扰动补偿控制相比于PID控制的优越性.
Based on the proportional-integral-derivative (PID) control, a perturbation compensation link is added and a disturbance compensation control system of a five-DOF magnetic bearing is designed.Through the analysis of the rotor’s motion model, the more accurate disturbance of the magnetic bearing Observer model.Static stability analysis and parameter tuning method are studied for discrete disturbance observer so that the parameter tuning process of disturbance observer is more standardized and convenient.The experimental results show that adding perturbation compensation control , The displacement fluctuation of the rotor’s degree of freedom perturbed is reduced by 38.7% and 67% respectively, and the rotor locus fluctuation at the speed of 20 000 r / min is reduced by 21%. Thus, it is verified that the disturbance compensation control is better than the PID control The superiority.