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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2020, Vol. 54 Issue (4): 662-670    DOI: 10.3785/j.issn.1008-973X.2020.04.004
Mechanical Engineering，Electrical Engineering     
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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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     
Received: 02 March 2019      Published: 05 April 2020
CLC:  TH 39  
Corresponding Authors: Jin ZHOU     E-mail: guanxd@nuaa.edu.cn;zhj@nuaa.edu.cn
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Xu-dong GUAN
Jin ZHOU
Chao-wu JIN
Yuan-ping XU
Cite this article:

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.

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


重载磁悬浮轴承-转子自适应控制性能

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 
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
Tab.1 Major parameters of active magnetic bearings
Fig.1 Structure schematic diagram and test rig of magnetic levitation horizontal spiral centrifuge
Fig.2 Closed-loop control diagram of AMBs system
Fig.3 ACAC principle block diagram
参数 数值 参数 数值
λ 0.15 λ1 0.7
kd 0.006 λ2 1.4
kin 200 ? ?
Tab.2 ACAC control parameters in simulation analysis
Fig.4 Characteristic model parameter identification
Fig.5 Control and displacement output
Fig.6 Step response curve of system with different λ
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
Tab.3 ACAC control parameters
Fig.7 Frequency sweep test results of closed-loop system
Fig.8 Bode diagram of sensitivity transfer function
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
Tab.4 Peak zone of sensitivity function
Fig.9 Whole stability margin of system
Fig.10 Displacement map of rotor under 4 740 r/min
Fig.11 Rotor axis locus under 4 740 r/min
Fig.12 Displacement signal and its frequency domain information
Fig.13 Waterfall graph of 1 DOF displacement signal at A end
Fig.14 Rotor orbit of the vibration displacement
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
Tab.5 Recommended criteria of zone limits
Fig.15 ISO14839 vibration displacement level evaluation
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