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浙江大学学报(工学版)
浙江大学学报(工学版)  2020, Vol. 54 Issue (4): 662-670    DOI: 10.3785/j.issn.1008-973X.2020.04.004
机械工程、电气工程     
重载磁悬浮轴承-转子自适应控制性能
关旭东(),周瑾*(),金超武,徐园平
南京航空航天大学 机电学院，江苏 南京 210016
Adaptive control performance of heavy load magnetic bearing and rotor
Xu-dong GUAN(),Jin ZHOU*(),Chao-wu JIN,Yuan-ping XU
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
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摘要：

针对磁悬浮轴承-转子大型化、重载化为控制系统设计带来的控制对象数学模型不易精确建立、控制参数较难调节等问题，以磁悬浮卧螺离心机中重载转子为研究对象，采用自适应控制方法进行控制性能研究. 设计支撑卧螺离心机的磁悬浮轴承-转子系统，转子长度约为3.4 m，质量约为1 090 kg. 通过仿真和试验验证了自适应方法可实时调节的控制性能，使得磁悬浮轴承支撑的重载转子稳定旋转至约4 740 r/min，转速较传统滚动支撑提高了50%以上，可以有效提高离心机的分离效率，通过ISO14839验证了稳定裕度及振动水平位均在B级安全以内.
关键词： 磁悬浮轴承;  重载转子;  自适应控制;  控制性能;  ISO14839    
Abstract:

The adaptive control method was adopted to analyze the control performance of the heavy load rotor in the magnetic levitation horizontal spiral centrifuge in order to deal with the problems caused by the large size and heavy load of the magnetic bearing and rotor in the control system design, such as the difficulty in accurately establishing the mathematical model of the control object and the difficulty in adjusting the control parameters. A magnetic bearing-rotor system was designed to support the horizontal spiral centrifuge with the rotor length of about 3.4 m and a mass of about 1 090 kg. The simulation analysis and experimental research were conducted by using the adaptive control method to verify the real-time adjustable control performance of the adaptive control method. The heavy load rotor supported by magnetic bearing rotated stably to about 4 740 r/min, and the rotational speed was increased by more than 50% compared with the traditional rolling support, which can effectively improve the separation efficiency of centrifuge. The stability margin and vibration level of the magnetic bearings and rotor system were proved to be within B level by ISO14839.
Key words: magnetic bearing    heavy load rotor    adaptive control    control performance    ISO14839
收稿日期: 2019-03-02 出版日期: 2020-04-05
CLC:  TH 39  
基金资助: 国家自然科学基金资助项目（51675261）；江苏省重点研发计划资助项目（BE2016180）；南京航空航天大学基本科研业务费专项科研资助项目（NZ2018460）
通讯作者: 周瑾     E-mail: guanxd@nuaa.edu.cn;zhj@nuaa.edu.cn
作者简介: 关旭东（1989—），男，博士生，从事磁悬浮技术研究. orcid.org/0000-0001-7453-5540. E-mail： guanxd@nuaa.edu.cn
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关旭东
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引用本文:

关旭东,周瑾,金超武,徐园平. 重载磁悬浮轴承-转子自适应控制性能[J]. 浙江大学学报(工学版), 2020, 54(4): 662-670.

Xu-dong GUAN,Jin ZHOU,Chao-wu JIN,Yuan-ping XU. Adaptive control performance of heavy load magnetic bearing and rotor. Journal of ZheJiang University (Engineering Science), 2020, 54(4): 662-670.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2020.04.004    或    http://www.zjujournals.com/eng/CN/Y2020/V54/I4/662

参数 数值
径向磁轴承定子外径/mm 410
径向磁轴承定子内径/mm 180
磁极宽度/mm 35
径向单边气隙/mm 0.5
偏置电流/A 3.5
径向线圈匝数 100
径向单边保护气隙/mm 0.25
轴向磁轴承磁极面积/m2 8.07×10?3
轴向磁轴承线圈匝数 320
轴向磁轴承单边气隙/mm 0.8
轴向磁轴承单边保护气隙/mm 0.4
表 1  AMBs的主要参数
图 1  磁悬浮卧螺离心机结构简图及现场实物图
图 2  AMBs系统闭环控制框图
图 3  ACAC原理框图
参数 数值 参数 数值
λ 0.15 λ1 0.7
kd 0.006 λ2 1.4
kin 200 ? ?
表 2  仿真分析中ACAC控制参数
图 4  特征模型参数辨识
图 5  控制量与输出位移
图 6  参数λ变化下系统的阶跃响应对比
参数 λ kd kin λ1 λ2
A端x轴 0.65 0.004 19 2 0.7 1.4
A端y轴 0.65 0.004 10 2 0.7 1.4
B端x轴 0.60 0.004 00 2 0.7 1.4
B端y轴 0.65 0.004 70 2 0.7 1.4
轴向 0.98 0.009 90 2 0.7 1.4
表 3  ACAC控制参数
图 7  闭环系统扫频试验结果
图 8  灵敏度传递函数伯德图
区域 灵敏度峰值/dB 区域 灵敏度峰值/dB
A S<9.5 C 12≤S<14
B 9.5≤S<12 D S≥14
表 4  灵敏度函数峰值区域
图 9  系统的整体稳定裕度
图 10  4 740 r/min下的转子位移图
图 11  4 740 r/min下的转子轴心轨迹图
图 12  位移信号及其频域信息
图 13  A端1个自由度位移信号瀑布图
图 14  转子振动位移轨迹
区域限制 振动位移
A Dmax<0.3Cmin
B 0.3Cmin≤Dmax<0.4Cmin
C 0.4Cmin≤Dmax<0.5Cmin
D Dmax≥0.5Cmin
表 5  推荐的区域限制标准
图 15  ISO14839振动位移水平评估
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