无轴承扰动补偿悬浮系统的稳定性分析与验证

Stability analysis and verification for bearingless magnetic levitation system with disturbance rejection

中文关键词  无轴承电机  扩张状态观测器  扰动补偿  稳定性分析  参数调节

英文关键词  bearingless motor  extended state observer  disturbance rejection  stability analysis  parameters adjusting

中文摘要

      目前, 无轴承磁悬浮系统多采用PID等经典控制策略, 然而由于外界扰动、参数摄动等诸多原因, 难以实现高性能的悬浮控制. 本文针对上述问题, 通过在传统PID悬浮控制系统中增加扩张状态观测器, 对悬浮力扰动进行实时补偿, 从而建立基于扩张状态观测器的无轴承悬浮控制系统. 其中, 根据扩张状态观测器对综合扰动进行观测的基本原理, 构建了系统数学模型, 并对其稳定性进行了分析. 在此基础上, 对观测器参数调节的选取原则和稳定域的参考范围进行了理论分析, 从而提出了一套无轴承悬浮控制系统参数整定方案. 此外, 本文还结合模型中主要参数的物理意义, 进一步完善了非线性扩张状态观测器参数的设定原则. 最后, 通过仿真验证了扩张状态观测器对无轴承悬浮系统扰动抑制的作用, 以及所述参数整定方案的正确性.

英文摘要

      Although the PID control strategy is widely adopted in the bearingless magnetic levitation system, it is impossible to realize high performance in the levitation control due to the influences of disturbance to the levitation forces and the parameters perturbation，etc. To deal with this problem, we develop a novel bearingless levitation system by adding an extended state observer (ESO) to obverse the comprehensive disturbances, making the system able to compensate the disturbances in real-time. The mathematical model of the ESO is built based on the operating principle, and its stability is analyzed. On this basis, the principle of the parameter selection and the stable region of the parameters for the levitation control system are considered theoretically, thus a complete control scheme for the bearingless magnetic levitation system is presented. Additionally, the principle of the parameter adjustment in the nonlinear extended state observer is improved by considering the physical meanings of those parameters. Simulation verifies the significant contribution of the ESO to the disturbance rejection in the bearingless levitation system, and validates the proposed scheme for its parameters adjustment.