磁悬浮控制敏感陀螺转子偏转通道稳定控制方法

Stable control method for rotor tilt channel in magnetically suspended control and sensing gyro

中文关键词  磁悬浮控制敏感陀螺  洛伦兹力磁轴承  强陀螺效应  稳定控制  滤波交叉反馈

英文关键词  magnetically suspended control and sensing gyro  Lorentz force magnetic beraing  significant gyro effects  stable control  filter cross feedback

中文摘要

      为克服强陀螺效应对高速磁悬浮控制敏感陀螺(MSCSG)转子偏转通道稳定性的影响, 提出一种基于分散 PID结合滤波交叉反馈的数字控制方案. 根据洛伦兹力磁轴承支承的转子偏转系统结构特点, 建立了MSCSG转子偏 转动力学模型; 利用所建立模型分析了两径向偏转自由度间的耦合特性, 并提出在PID控制器的基础上, 引入滤波 交叉反馈来抑制径向偏转通道中的陀螺效应; 搭建了以DSP和FPGA为核心的数字控制系统, 并采用双线性变换将 所提出的控制方法进行数字化实现. 采用根轨迹法对所提出控制方法的稳定性进行了分析, 通过实验比较了引入 滤波交叉反馈控制前后转子偏转通道的稳定性. 实验结果表明, 分散PID 控制条件下MSCSG 转子在转速为 3200 r/min时失稳, 而引入滤波交叉反馈后, 转子转速升至5000 r/min后仍可稳定运行. 实验结果验证了所提出稳定 控制方法对强陀螺效应的抑制作用.

英文摘要

      To suppress the influence of gyro effects on the rotor tilt channel of the magnetically suspended control and sensing gyro (MSCSG), digital controller based on decentralized PID plus filter cross feedback control is proposed. According to the structural characteristics of rotor tilt system supported by Lorentz-force magnetic bearing, dynamic model for rotor tilting is established; the coupling relationship of the two radial tilt channels is analyzed with the established model, and cross feedback control is proposed to import into the PID controller to suppress the gyro effects. Digital control system based on DSP and FPGA is constructed, and the proposed control algorithm is digital realized by bilinear transformation. The stability of the proposed control method is analyzed by root locus, and the stabilities of rotor tilt channel before and after importing filter cross feedback are compared by experiments. The experimental results show that with the traditional decentralized PID, the rotor system loses stability at the speed of 3200 r/min, while the rotor system can operate stably at the speed of 5000 r/min after importing filter cross feedback control. Experiment results demonstrate the effectiveness of the proposed stable control method to suppress the significant gyro effects for MSCSG.