Construction Method of Adaptive Inverse Controller for Axial Hybrid Magnetic Bearings of Bearingless Motors

Abstract

The invention discloses a construction method for a self-adaptive inverse controller of a bearingless motor axial hybrid magnetic bearing. The construction method comprises the following steps: forming a composite controlled object by taking a switching power amplifier, a bearingless motor axial hybrid magnetic bearing, a load and an eddy current displacement sensor as a whole; constructing a composite controlled object model and a composite controlled object inverse model of the composite controlled object and carrying out off-line defining on the parameters of both the composite controlled object model and the composite controlled object inverse model; copying the composite controlled object inverse model which is used as a feedforward controller to be connected in series before to form the inverse controller; driving the composite controlled object inverse model according to the output errors of both the composite controlled object and the composite controlled object model; adjusting the weighted parameters of the inverse controller on line in real time according to the difference between the output of the composite controlled object and a given axial displacement signal. The dynamic characteristic control and interference control of a system can be separated and processed individually, so that both the dynamic characteristic control and interference control can achieve optimum effects and have good following performances, steady state accuracies and disturbance rejection.

Description

technical field [0001] The invention relates to the field of high-speed and ultra-high-speed electric transmission and the axial hybrid magnetic bearing of a bearingless motor in an extremely special environment, and specifically relates to a construction method of a controller for an axial hybrid magnetic bearing of a bearingless motor. The controller constructed by this method can be It is used in high-speed motors, artificial satellites, high-speed precision CNC machine tools, flywheel energy storage, etc., and belongs to the field of special electric drive control technology. Background technique [0002] The magnetic bearing utilizes the magnetic force interaction between the stator and the rotor to support the rotor to suspend in space. It is a new type of electromechanical device. Since there is no mechanical contact between the stator and the rotor, the speed of the magnetic bearing rotor can reach a very high speed. Magnetic bearings have a series of advantages suc...

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Problems solved by technology

[0004] Axial hybrid magnetic bearing systems for bearingless motors generally use traditional PID controllers. However, traditional PID controllers have the following disadvantages: (1) There is no optimal combination of linear parameters, which easily leads to the rapidity and There is a serious contradiction between the overshoots; (2) The given signal and the actual output signal of the system are rough signals and smooth signals respectively, if the rough given signal is directly used as the reference value of the smooth output signal, It will cause the hybrid magnetic bearing system to oscillate; (3) The integral control function in the PID controller is used to eliminate the static error of the system, but the integral control will lead to the deterioration of the stability of the hybrid magnetic bearing system, and even lead to integral saturation

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