高速电主轴主动磁轴承温度场参数设计及控制研究

发布时间：2018-06-21 10:02

本文选题：主动磁轴承 + 电主轴　；参考：《江苏大学》2013年博士论文

【摘要】：磁悬浮轴承(简称磁轴承)具有无机械接触、无磨损、无需润滑、无污染、高精度、寿命长等优点,在洁净空间、压缩机和卫星等多种需要无接触支承的场合起到了很重要的作用。本课题组研究了一种新型的交流主动磁轴承,与传统的直流磁轴承相比,它具有结构紧凑、成本低、便于驱动与控制等优点。论文设计了新型结构的五自由度交流主动磁轴承支承的电主轴系统,建立了状态方程,并以降温为目标,运用有限元方法对磁轴承进行参数优化设计,得出了满意的设计方案。在此基础上,采用改进H∞输出反馈控制算法抑制磁轴承的径向和轴向扰动,最后构建了五自由度交流主动磁轴承支承的电主轴数字控制系统,并对电主轴的五自由度悬浮支承技术进行了基础理论和PID参数鲁棒稳定域典型实验研究。论文工作是在国家自然科学基金(60974053)和江苏省自然科学基金(BK2012707)等资助下开展的。本文主要研究工作及取得的成果如下： 1.设计了用于高速电主轴一端悬浮支承的三相交流主动磁轴承,采用等效磁路法对磁轴承的磁路进行了计算,导出了悬浮力数学模型。依据数学模型及性能要求,给出了相关设计参数的方法,并研究了其控制策略。 2.提出了径向主动磁轴承温度场参数化有限元分析方法。建立定子绕组线圈的等效导热模型,降低了计算难度。解决了定转子之间的气隙热交换问题。给出了定子线圈绕组传热途径,建立了等效热路图模型,合理处理了温升对线圈绕组阻值的影响。计算了定子磁极绕组的等效体积,在此基础上得出了准确的线圈铜耗的生热率。对温度场和热损耗进行分析,给出了径向主动磁轴承三维全域温度场模型。采用三因素三水平的正交试验设计方法,在满足静态悬浮力和最大悬浮力性能要求的前提下,分析并研究了交流主动磁轴承的结构参数优化设计方法,给出了关于温度的最佳参数水平组合。仿真结果证明了所选用模型的正确性和所采用方法的实用性和有效性。 3.提出一种抑制交流主动磁轴承径向和轴向扰动的最优H∞输出反馈控制算法。在本文中,分别采用了最优输出反馈控制和最优H∞输出反馈控制改善磁轴承的径向和轴向位移调节。通过求解Riccati方程得到满足最小性能指标的输出反馈控制增益矩阵,并将该增益矩阵反馈到系统中,用来改善系统性能。上述两种控制方法可以有效调节磁轴承的径向和轴向位移输出,并通过使用Matlab和Simulink工具箱对其进行了验证。仿真结果表明文中提出的最优H∞输出反馈控制在有扰动存在情况下,其效果优于最优输出反馈控制。 4.提出仅依靠频率响应确定轴向磁轴承的PID参数鲁棒稳定域的方法。首先根据小增益定理得到闭环系统的鲁棒稳定性条件,由此推导出加性不确定性的内部稳定H∞指标,再由边界穿越定理和D-分割技术,推导了满足H∞指标的PID控制器的鲁棒参数稳定域边界的解析表达式。在稳定域中选择PID参数,可以使得系统稳定并满足鲁棒性能约束条件。该方法降低了轴向磁轴承PID控制器参数稳定域设计的难度,对时滞系统PID参数调节具有良好的鲁棒性和可操作性。仿真实验证明了本章方法的有效性。 5.设计了基于数字信号处理器TMS320F2812DSP的五自由度交流主动磁轴承数字控制系统软、硬件方案,给出了软件总体流程图以及各中断子流程图,进行了局部实验,以实例对所第五章中提出算法的有效性进行了验证,实现了交流主动磁轴承稳定悬浮。提出了详细的实验及测试方案,为进一步开展各项参数调试与功能测试奠定了基础。
[Abstract]:Magnetic bearing (the magnetic bearing) has no mechanical contact, no wear, no lubrication, no pollution, high precision, long life and other advantages, in the clean room, the compressor and the satellite and other needs of non-contact bearing situation plays a very important role. This paper studied a new type of AC active the magnetic bearing, and traditional DC magnetic The machine, which has the advantages of compact structure, low cost, easy to drive and control etc. This paper designed the electric spindle system with five degrees of freedom of communication model structure of active magnetic bearing, established the state equation, and taking the temperature as the goal, using the finite element method of the optimization design for the design parameters of the magnetic axis in the scheme of satisfaction. On this basis, the improved robust H output feedback control algorithm to suppress the disturbance of radial and axial magnetic bearings, finally build a digital control system of motorized spindle with five degrees of freedom AC active magnetic bearing, and the spindle of the five degree of freedom suspension technology of basic theory and PID parameter robust stability domain of typical experimental research. The The work is in the National Natural Science Foundation (60974053) and Jiangsu Province Natural Science Fund (BK2012707) to carry out such funding. The main research work and achievements are as follows:
The 1. is designed for three-phase AC high speed electric spindle is supported by active magnetic bearings, using the equivalent circuit method of magnetic circuit of magnetic bearing is calculated, the mathematical model is derived. The suspension force on the basis of the mathematical model and method of performance, the design parameters are given, and the research of its control strategy.
2. of the radial active magnetic bearing parameters of temperature field finite element analysis method. The equivalent heat transfer model of stator winding coil, reduces the difficulty of computation. To solve the problem of heat exchange of air gap between the stator and the rotor windings of a stator coil is given. The heat transfer path, established the equivalent thermal circuit diagram model, the temperature rise of the reasonable treatment coil winding resistance The influence of stator pole winding. The equivalent volume was calculated on the basis of the accurate heat coil copper consumption rate. The temperature field and heat loss analysis, gives the radial active magnetic bearing 3D whole temperature field model. Orthogonal test with three factors and three levels of design method, in the static suspension force and maximum suspension The premise of buoyancy performance requirements, analysis and Research on structure parameters of the AC active magnetic bearing of the optimization design method, gives the best level combination parameters on temperature. The simulation result shows that the model is correct and the method is practical and effective.
3. propose an optimal H robust output AC active magnetic bearing inhibition of radial and axial perturbation feedback control algorithm. In this paper, the optimal feedback control and robust H output feedback control of radial and axial displacement to improve magnetic bearing adjusting optimal output. By solving the Riccati equation satisfied the minimum output performance feedback The control gain matrix, and the feedback gain matrix to the system, to improve the performance of the system. The two control methods can effectively adjust the magnetic bearing radial and axial displacement output, and by using the Matlab Simulink toolbox and verified it. The simulation results show that the optimal feedback control in the noisy H infinite output is proposed in this paper. The The presence of dynamic feedback control, the effect is better than the optimal output.
4. proposed relying only on the frequency response method to determine the parameters of PID robust stability region of the axial magnetic bearing. According to the conditions of robust stability of the closed-loop system by the small gain theorem, deduces the internal stability of H - index of additive uncertainty, by the boundary crossing theorem and D- segmentation technique is deduced to meet PID controller H - index the The analytical expression of the stability region boundary. Robust parameter selection of PID parameters in the stability region, which makes the system stable and satisfy robust performance constraints. This method reduces the axial magnetic bearing PID controller parameters in the stable region and the difficulty of the design, with good robustness and operability of time-delay system. The simulation results of PID parameter adjustment Validity of this method.
5. design of hardware based on five degrees of freedom of communication of digital signal processor TMS320F2812DSP active magnetic bearing control system software, program, gives the software flowchart and the interrupt flow chart of local experiments, based on examples, the fifth chapter verified the validity of the method, the AC active magnetic bearings The stable suspension is proposed. Experiments and detailed test scheme, which lays a foundation for further parameters debugging and function test.
【学位授予单位】：江苏大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH133.3;TP273

【参考文献】