Construction method of five-degree-of-freedom alternating-current active magnetic bearing alpha-ordered invertible system decoupling controller

Abstract

The invention discloses a construction method of a five-degree-of-freedom alternating-current active magnetic bearing alpha-ordered invertible system decoupling controller. The method comprises the following steps of: serially connecting expanded current tracking inverters which are formed by sequentially connecting Clark inverters with current tracking inverters and a bipolarity switch power amplifier with a five-degree-of-freedom alternating-current active magnetic bearing respectively to form a composite controlled object together; constructing an alpha-ordered invertible system by establishing a mathematical model of the composite controlled object and serially connecting the alpha-ordered invertible system with the composite controlled object to form a pseudo-linear system; designingfour radial position controllers and an axial position controller corresponding to five linear integral subsystems respectively to form a linear closed loop controller; and finally constructing the five-degree-of-freedom alternating-current active magnetic bearing alpha-ordered invertible system decoupling controller by using the linear closed loop controller, the alpha-ordered invertible system,the current tracking inverters and the bipolarity switch power amplifier together. By the controller, independent decoupling control can be performed on the position of the magnetic bearing, so that the system has high control performance and high load disturbance resistant capacity.

Description

technical field [0001] The invention relates to a construction method of a magnetic bearing decoupling controller in the field of high-speed and ultra-high-speed motor transmission. The constructed magnetic bearing decoupling controller is used for attitude control and energy storage in artificial satellites, missiles, submarines and other weapons, and high-speed High-performance machine tool spindles, generators, centrifugal pumps, etc., belong to the technical field of electric drive control equipment and mechanical lubrication and sealing. Background technique [0002] Magnetic bearings use magnetic field force to suspend the rotor in the air without contact, and the levitation position can be controlled by the control system. Compared with traditional bearings, magnetic bearings have many outstanding advantages such as no friction and wear, no lubrication, high speed, high precision, long life, etc. Especially in the spindle system of high-speed machine tools, the suppor...

AI Technical Summary

Problems solved by technology

Among them, the approximate linearization decoupling control method can only realize the static decoupling of the system, but cannot realize the dynamic decoupling of the system.

The differential geometric feedback linearization decoupling control method does not ignore any high-order nonlinear items in the linearization process, and the way to realize it is relatively abstract, which is inconvenient to popularize and apply in engineering

The neural network inverse decoupling control method can realize the dynamic decoupling of the system when the analytical inverse is difficult to obtain, and obtain excellent static and dynamic characteristics. However, the neural network still has slow learning speed and long training time in terms of theory and design methods. , the ideal sample extraction is difficult, the network structure is not easy to optimize and other insurmountable defects

The inverse system decoupling control method realizes the dynamic decoupling control between each controlled variable by linearizing and decoupling the system into independent linear integral subsystems, which can effectively improve the control performance of the entire system, and its physical concept is clear. It is both intuitive and easy to understand, and does not require advanced mathematical theoretical knowledge. It has a certain degree of universality, but the defect of the commonly used inverse system decoupling control method is that it requires an accurate mathematical model of the controlled object, which needs to be controlled by designing a position controller. make up

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