主动磁悬浮轴承滑模变结构控制器的研究

发布时间：2018-12-06 10:17

【摘要】：随着工业的不断进步,传统轴承越来越难以满足高性能、低耗能的要求,这促使人们对新的替代轴承进行探索。主动磁悬浮轴承具有无机械损耗、无摩擦、无需润滑、噪声小、刚性阻尼可调控、理论转速高等诸多优点,逐渐成为了传统轴承的理想替代品。但是,主动磁悬浮轴承系统是一个非线性强、耦合程度高的多输入多输出系统,采用传统的PID控制方法不能很好地满足系统对稳定性和动态特性的要求。因此,本文采用滑模变结构控制策略,对主动磁悬浮轴承的控制器进行了研究。主要工作如下:概述了主动磁悬浮轴承的发展状况和应用前景;研究了主动磁悬浮轴承的基本结构以及工作原理;对单自由度主动磁悬浮轴承系统进行了研究,建立了其数学模型,并依据离散滑模变结构控制理论,构造了相应的控制器,运用MATLAB编写程序,对离散滑模变结构控制器和传统PID控制器的控制效果进行了仿真和比较。在单自由度磁轴承研究的基础上,对五自由度主动磁悬浮轴承系统进行了系统的研究,首先,分析了其运动方程,以此建立了系统的数学模型;针对五自由度主动磁悬浮轴承系统的复杂性,对其进行了解耦研究,设计了一种基于多输入多输出积分滑模变结构控制的控制器,最后通过仿真验证了所研究的控制策略相比于传统PID控制方法具有更加良好的动态性能和鲁棒性。
[Abstract]:With the development of industry, it is more and more difficult for traditional bearings to meet the requirements of high performance and low energy consumption. Active magnetic bearing (AMB) has many advantages such as no mechanical loss, no friction, no lubrication, low noise, adjustable rigid damping, high theoretical speed and so on. It has gradually become an ideal substitute for traditional bearings. However, the active magnetic bearing system is a multi-input and multi-output system with strong nonlinearity and high coupling. The traditional PID control method can not meet the requirements of the stability and dynamic characteristics of the system. Therefore, the sliding mode variable structure control strategy is used to study the controller of active magnetic bearing. The main work is as follows: the development and application prospect of active magnetic bearing are summarized, the basic structure and working principle of active magnetic suspension bearing are studied. The single-degree-of-freedom active magnetic bearing system is studied and its mathematical model is established. According to the discrete sliding mode variable structure control theory, the corresponding controller is constructed, and the program is written by MATLAB. The control effects of discrete sliding mode variable structure controller and traditional PID controller are simulated and compared. On the basis of the research of single degree of freedom magnetic bearing, the five degree of freedom active magnetic bearing system is systematically studied. Firstly, the equation of motion is analyzed and the mathematical model of the system is established. Aiming at the complexity of 5-DOF active magnetic bearing system, the decoupling study is carried out, and a controller based on multi-input and multi-output integral sliding mode variable structure control is designed. Finally, the simulation results show that the proposed control strategy has better dynamic performance and robustness than the traditional PID control method.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH133.3

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