適應性控制用於主動式磁浮軸承轉子系統偏心補償之研究

Adaptive Control for Imbalance Compensation of a Rotor System Supported by Active Magnetic Bearings

翁端良(Duan-Liang Weng)

指導教授 ： 范憶華

中原大學/工學院/機械工程研究所/碩士(2005年)

https://doi.org/10.6840/cycu200500676

摘要

摘要
本研究為針對一個主動式單邊磁浮軸承轉子系統設計其偏心補償控制器。在本研究中將說明單邊磁浮軸承系統控制器及外力估測器的設計概念與方法。本研究是利用全電磁鐵式磁浮軸承來進行，全電磁鐵式磁浮軸承是利用電磁力的懸浮系統抵抗重力以支撐轉軸，並由回授控制使轉軸懸浮於預定位置。在軸向方面，則以撓性聯軸器銜接馬達與轉軸，所以只需要控制四個自由度。在感測器方面，我們使用渦電流感測器提供位置訊號，經過比例調整器，並以個人電腦為平台的MATLAB結合AD/DA卡做為回授PD控制器，此時，我們設計外力估測器來估測偏心力及外力干擾，在運動方程式中，由於力量-電流參數及力量-位移參數在設計時是以線性化為考量，而實際上這兩個參數是會隨著電流大小及位置的不同其變動量也會跟著改變，因此，估測出之外力將會受此變動量影響，所以我們利用適應性控制中的MIT律之方式，將估測外力乘以一個調變之增益並利用N次前饋控制的方式來修正此一誤差，希望使系統能在旋轉中心點附近運轉，進而提升系統的性能。
由模擬的結果顯示，當系統還未加入適應性前饋控制時，雖然位置輸出可控制在旋轉中心附近，但是偏移量過大，當系統在第15秒加入前饋控制後，能有效的抑制偏心力及外力干擾，並能使系統快速的到達穩定狀態，提高系統的強健性

關鍵字

適應性控制 ； 外力估測 ； 單邊磁浮軸承 ； 前饋補償

並列摘要

Abstract
This thesis proposed the controller and estimator design concept and method for the horizontal rotor system suspended by single active magnetic bearing. The electromagnetic force supported by the active magnetic bearing is used to resist the influences of gravity and external forces. The rotor will be controlled to suspend in the pre-calculated position by the feedback PD control and the feed-forward compensator.
In axial aspect, the flexible shaft coupling links up the motor and the rotor, thus there are only four degrees of freedoms must be considered. The eddy current sensors are used to provide the position signals, and the PC-based PD controller will catch these signals by the AD/DA card calculate by the software of MATLAB then feed to the rotor system by the real-time control toolbox. The external force estimator is designed at the assumption that the strength-current parameter and strength-displacement parameter is changeless, but these two parameters are in fact have some different quantity along with the current size and the position changes. Thus, the estimated imbalance force and the external force will be inaccuracy. So, we will use the MIT law of the adaptive control to adjust the estimated the external force and use the concept of the N time feed-forward control to feed the compensative signal to the system.
From the simulation result, we see that we can estimate the external force and feed- forward to the system in order to dispel the disturbance of the imbalance force by using the compensation of feed-forward,. The result of simulation shows, when the system has not joined the external force of compensation of feed-forward, we can control it near the rotor center to export in the position but skew amount is big. After joining the compensation of feed-forward to the system, it can be effective to restrain the imbalance force and disturbance of external force.

並列關鍵字

single magnetic bearing ； feed-forward compensation ； estimator ； adaptive control

參考文獻

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