發(fā)布時(shí)間：2018-04-04 23:29

  本文選題：立式泵　切入點(diǎn)：混合磁軸承　出處：《蘭州理工大學(xué)》2013年博士論文

【摘要】：目前,在國內(nèi)大中型泵站的機(jī)組中,導(dǎo)軸承可靠性不高、使用壽命短、維修工作量大是一個(gè)普遍性的問題。目前使用廣泛的水潤滑橡膠軸承以及賽龍軸承在比較復(fù)雜的環(huán)境中工作時(shí),容易出現(xiàn)軸承損壞或者是主軸損壞等問題,因此尋求一種穩(wěn)定性高、使用壽命長的高性能導(dǎo)軸承,以保證立式斜流泵可靠運(yùn)行是很有現(xiàn)實(shí)意義的。研究表明,磁軸承應(yīng)用于立式斜流泵具備無接觸、剛度和阻尼可調(diào)等傳統(tǒng)軸承無法比擬的優(yōu)勢。 課題在調(diào)研了國內(nèi)、外立式斜流泵導(dǎo)軸承及磁懸浮軸承的現(xiàn)狀和發(fā)展的基礎(chǔ)上,以混合磁軸承應(yīng)用于HBM-800T立式斜流泵進(jìn)而改善該型立式斜流泵的運(yùn)行穩(wěn)定性為研究目標(biāo)�？紤]課題涉及機(jī)械學(xué)、力學(xué)、電磁學(xué)、控制理論、電子技術(shù)等多學(xué)科綜合的特性,在不失系統(tǒng)一般性的前提下,突出研究重點(diǎn),分別研究磁軸承新結(jié)構(gòu)、葉片振動(dòng)與轉(zhuǎn)子及磁軸承耦合動(dòng)力學(xué)、魯棒控制等系統(tǒng)核心組成部分。 主要工作及成果如下： 1.提出一種應(yīng)用于立式斜流泵的新型混合徑向磁軸承,這種混合磁軸承是永磁磁軸承和電磁磁軸承的組合。其中永磁磁軸承采用的是斥力型Halbach陣列永磁環(huán)堆疊結(jié)構(gòu),主動(dòng)磁軸承采用8磁極結(jié)構(gòu),其中4對磁極徑向分布,每對磁極軸向布置,永磁磁路與電磁磁路相互獨(dú)立。小擾動(dòng)偏移可以由被動(dòng)磁軸承消除；擾動(dòng)較大時(shí),轉(zhuǎn)子的位移由永磁磁軸承和電磁磁軸承共同控制,從而在一定程度上降低主動(dòng)磁軸承的功耗。研究結(jié)果表明,新型混合磁軸承應(yīng)用于立式斜流泵具備節(jié)能及可控的優(yōu)點(diǎn)。 2.立式斜流泵轉(zhuǎn)子較長,運(yùn)轉(zhuǎn)過程中,容易產(chǎn)生振動(dòng),尤其當(dāng)泵高速運(yùn)轉(zhuǎn)時(shí),容易發(fā)生葉片與殼體碰摩,非線性振動(dòng)等有害因素,因此研究轉(zhuǎn)子動(dòng)力學(xué)理論,有利于解決泵的非線性動(dòng)力學(xué)問題。課題建立一個(gè)葉片-轉(zhuǎn)子-磁軸承系統(tǒng)的非線性動(dòng)力學(xué)模型來分析葉片、轉(zhuǎn)子和磁軸承之間的相互作用。利用Lagrange方程獲得系統(tǒng)的耦合動(dòng)力學(xué)微分方程。采用集中質(zhì)量法、正交變換及周期變換將具有時(shí)變系數(shù)的耦合方程轉(zhuǎn)化為常系數(shù)微分方程。數(shù)值計(jì)算結(jié)果表明這種系統(tǒng)具有豐富的非線性動(dòng)力學(xué)現(xiàn)象,進(jìn)入混沌的道路是通過陣發(fā)方式實(shí)現(xiàn)的。隨后混沌運(yùn)動(dòng)演化為周期1運(yùn)動(dòng),退出混沌運(yùn)動(dòng)狀態(tài)；通過在較寬的轉(zhuǎn)速范圍數(shù)值計(jì)算表明,系統(tǒng)響應(yīng)是倍周期運(yùn)動(dòng),說明系統(tǒng)響應(yīng)在轉(zhuǎn)速大范圍內(nèi)是穩(wěn)定的。雖然出現(xiàn)局部混沌運(yùn)動(dòng),但轉(zhuǎn)子無量綱位移振幅不大,遠(yuǎn)小于永磁軸承工作氣隙,沒有發(fā)生碰摩現(xiàn)象。 3.磁懸浮軸承除了無接觸外,還有一個(gè)很顯著的特點(diǎn)就是磁軸承的剛度可通過設(shè)計(jì)合適的控制系統(tǒng)按控制規(guī)律調(diào)整。所以研究混合磁軸承系統(tǒng)的組成及相關(guān)結(jié)構(gòu)參數(shù)與控制系統(tǒng)的承載能力及剛度特性很有必要。課題采用電流分散控制策略,考慮功率放大器、控制電路和位移傳感器增益特性,以及位移傳感器位置耦合問題,并對系統(tǒng)狀態(tài)矩陣及輸入矩陣進(jìn)行強(qiáng)制解耦,進(jìn)而實(shí)現(xiàn)新型混合磁軸承的轉(zhuǎn)子系統(tǒng)進(jìn)行建模。通過以上步驟已經(jīng)得到單個(gè)自由度上的磁軸承-轉(zhuǎn)子系統(tǒng)傳遞函數(shù),為系統(tǒng)控制器的設(shè)計(jì)奠定基礎(chǔ)。 4.提出一種應(yīng)用于立式斜流泵磁軸承轉(zhuǎn)子控制系統(tǒng)的L2魯棒控制器。由于目前磁懸浮軸承系統(tǒng)的動(dòng)態(tài)特性還不能完全被人們掌握,很難得到磁懸浮軸承系統(tǒng)精確的數(shù)學(xué)模型,即存在模型“不確定性”。這些“不確定性”的主要來源是磁軸承電磁鐵與轉(zhuǎn)子之間以及與所處的環(huán)境體現(xiàn)出來的多場耦合問題。針對立式斜流泵混合磁軸承工作特點(diǎn),首先將磁懸浮軸承電流控制器的設(shè)計(jì)問題轉(zhuǎn)化為標(biāo)準(zhǔn)的L2問題進(jìn)行設(shè)計(jì)。其次,基于無源化理論及遞推解法求出系統(tǒng)的存儲(chǔ)函數(shù),并證明滿足耗散不等式及閉環(huán)系統(tǒng)在原點(diǎn)全局漸近穩(wěn)定。最后,用Matlab對L2控制的立式斜流泵磁懸浮軸承系統(tǒng)進(jìn)行仿真,并與PID控制器的控制效果進(jìn)行比較研究。結(jié)果表明,L2魯棒控制策略相對PID控制策略更能有效抑制未知外擾動(dòng)的影響。 5.最后,通過立式斜流泵磁懸浮軸承系統(tǒng)的簡化模型實(shí)驗(yàn)研究,結(jié)果表明,磁懸浮軸承系統(tǒng)中轉(zhuǎn)子能實(shí)現(xiàn)穩(wěn)定懸浮,響應(yīng)快,相移小以及具備干擾抑制性能。
[Abstract]:At present, in the domestic large and medium-sized pumping unit, guide bearing reliability, short service life, maintenance workload is a common problem. The use of water lubricated rubber bearings widely and Thordon bearings in complex environment, prone to damage or spindle bearing damage and other problems, so seeking a high stability, long service life and high performance bearing, in order to ensure the reliable operation of vertical mixed flow pump is of great significance. The research results show that applying the AMBs to no contact with the vertical mixed flow pump, the stiffness and damping adjustable bearing and other traditional incomparable advantages.
Study on the research of the domestic and foreign vertical diagonal flow pump guide bearing and magnetic bearing of the present situation and development on the basis of the hybrid magnetic went for running stability of HBM-800T vertical mixed flow pump and improve the vertical oblique flow pump as the research object. Topics related to mechanics, mechanics, electromagnetics, control theory, electronic properties technology of multiple disciplines, without losing generality under the premise of system, highlighting the focus of study, respectively, a new structure of magnetic bearing and rotor blade vibration coupling and magnetic bearing dynamics, robust control system is the core part.
The main work and results are as follows:
1. new hybrid radial magnetic bearing for vertical oblique flow pump, the hybrid magnetic bearing is a combination of permanent magnet bearings and electromagnetic magnetic bearings. The permanent magnet bearings using the repulsion type Halbach array permanent magnet ring stack structure using 8 pole structure of active magnetic bearings, including 4 pairs of pole radial distribution and each pair of magnetic poles arranged axially, permanent magnetic circuit and electromagnetic circuit are independent of each other. The small disturbance offset can be eliminated by passive magnetic bearings; disturbance is larger, the rotor displacement controlled by permanent magnet bearings and electromagnetic magnetic bearings, active magnetic bearings to reduce the power consumption in a certain extent. The results show that the new hybrid magnet bearing used in the vertical diagonal flow pump has the advantages of energy saving and controllable.
2. vertical diagonal flow pump rotor is longer, the process of operation, easy to produce vibration, especially when the pump is running at high speed, prone to leaf and shell rubbing, nonlinear vibration and other harmful factors, so the research on rotor dynamics theory, to solve the problems of nonlinear dynamics analysis of vane pump. The nonlinear dynamic model of subject establishment of a blade the rotor magnetic bearing system, the interaction between the rotor and the magnetic bearing. The coupling dynamics system of differential equations by Lagrange equation. Using the lumped mass method, orthogonal transform and periodic transform coefficients with coupled equations sometimes into differential equations with constant coefficients. The numerical results show that there exists the complicated nonlinear dynamics in the system, the road to chaos is realized by intermittent way. Then chaotic evolution period 1 motion, chaotic motion through the exit; In the wide speed range of numerical calculation shows that the system response is double period motion, the system response speed in large range is stable. Although the local chaotic motion, but the dimensionless rotor displacement amplitude is far less than the permanent magnet bearing working gap, no rubbing phenomenon.
3. in addition to magnetic bearings without contact, there is a very significant feature is the magnetic bearing stiffness can be controlled by appropriate system design according to control law adjustment. So carrying capacity study on composition and structure parameters and control system of hybrid magnetic bearing system and stiffness characteristics is necessary. The current decentralized task considering the control strategy, power amplifier, control circuit and sensor gain characteristics, and the displacement sensor position coupling problem and forced decoupling of system state matrix and input matrix, and then realize the new hybrid magnetic bearing rotor system is modeled. Through the above steps have been a single degree of freedom magnetic bearing - rotor system transfer function. To lay the foundation for design of system controller.
4. this paper proposes a vertical diagonal flow pump control system of magnetic bearing rotor L2 robust controller. Due to the dynamic characteristics of magnetic bearing system is currently still not fully been grasp, it is difficult to get the accurate mathematical model of the magnetic bearing system, namely the existence of model uncertainty. The main sources of the uncertainty is between the electromagnet and the rotor magnetic bearing and the environment to reflect the multi field coupling problem. The vertical diagonal flow pump hybrid magnetic bearing characteristics, firstly the design problem of magnetic bearing current controller is transformed to the standard L2. Secondly, and recursive solution for storage function of the system is based on the passivity theory, and prove the dissipative inequality and the closed-loop system globally asymptotically stable at the origin. Finally, simulation of vertical oblique flow pump magnetic bearing system controlled by L2 Matlab It is compared with the control effect of PID controller. The results show that L2 robust control strategy is more effective than PID control strategy in suppressing the influence of unknown external disturbances.
5., finally, through the simplified model experiment of the magnetic suspension bearing system of vertical diagonal flow pump, the experimental results show that the rotor in the maglev bearing system can achieve stable suspension, quick response, small phase shift and interference suppression performance.

【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TH133.3

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 方家榮,林良真,夏平疇,嚴(yán)陸光;超導(dǎo)混合磁力軸承的發(fā)展現(xiàn)狀和前景[J];電工電能新技術(shù);2000年01期

2 樓曉春;吳國慶;;主動(dòng)磁軸承系統(tǒng)的自適應(yīng)滑模控制[J];電工技術(shù)學(xué)報(bào);2012年01期

3 田錄林;李言;田琦;李知航;;大外徑多環(huán)嵌套永磁軸承軸向磁力模型[J];電機(jī)與控制學(xué)報(bào);2009年03期

4 張鳳閣;金石;;無刷雙饋風(fēng)力發(fā)電系統(tǒng)的L_2魯棒控制[J];電機(jī)與控制學(xué)報(bào);2010年08期

5 蘇義鑫;王提峰;;磁力軸承技術(shù)研究進(jìn)展[J];儀器儀表用戶;2007年05期

6 蔣啟龍,連級三;電磁軸承及其應(yīng)用研究綜述[J];重慶大學(xué)學(xué)報(bào)(自然科學(xué)版);2004年07期

7 李春生;杜玉梅;夏平疇;嚴(yán)陸光;;磁浮列車工程中的Halbach永久磁體結(jié)構(gòu)的優(yōu)化[J];工程設(shè)計(jì)學(xué)報(bào);2007年04期

8 李春生;王武;杜玉梅;金能強(qiáng);嚴(yán)陸光;;直線型Halbach磁體和導(dǎo)體板構(gòu)成的電動(dòng)式懸浮系統(tǒng)的實(shí)驗(yàn)裝置設(shè)計(jì)[J];工程設(shè)計(jì)學(xué)報(bào);2008年01期

9 劉海濤;張鐵;;基于時(shí)延估計(jì)和魯棒H_∞控制的工業(yè)機(jī)器人跟蹤控制[J];華南理工大學(xué)學(xué)報(bào)(自然科學(xué)版);2012年01期

10 陳嬌英;李嘯驄;李文濤;黃夢喜;;基于自適應(yīng)Backstepping的SVC魯棒L_2性能控制設(shè)計(jì)[J];電力系統(tǒng)保護(hù)與控制;2011年17期

，

本文編號：1712205