本文選題：主動磁軸承 + 電主軸　； 參考：《江蘇大學》2013年博士論文

【摘要】：磁懸浮軸承(簡稱磁軸承)具有無機械接觸、無磨損、無需潤滑、無污染、高精度、壽命長等優(yōu)點,在潔凈空間、壓縮機和衛(wèi)星等多種需要無接觸支承的場合起到了很重要的作用。本課題組研究了一種新型的交流主動磁軸承,與傳統(tǒng)的直流磁軸承相比,它具有結構緊湊、成本低、便于驅(qū)動與控制等優(yōu)點。論文設計了新型結構的五自由度交流主動磁軸承支承的電主軸系統(tǒng),建立了狀態(tài)方程,并以降溫為目標,運用有限元方法對磁軸承進行參數(shù)優(yōu)化設計,得出了滿意的設計方案。在此基礎上,采用改進H∞輸出反饋控制算法抑制磁軸承的徑向和軸向擾動,最后構建了五自由度交流主動磁軸承支承的電主軸數(shù)字控制系統(tǒng),并對電主軸的五自由度懸浮支承技術進行了基礎理論和PID參數(shù)魯棒穩(wěn)定域典型實驗研究。論文工作是在國家自然科學基金(60974053)和江蘇省自然科學基金(BK2012707)等資助下開展的。本文主要研究工作及取得的成果如下： 1.設計了用于高速電主軸一端懸浮支承的三相交流主動磁軸承,采用等效磁路法對磁軸承的磁路進行了計算,導出了懸浮力數(shù)學模型。依據(jù)數(shù)學模型及性能要求,給出了相關設計參數(shù)的方法,并研究了其控制策略。 2.提出了徑向主動磁軸承溫度場參數(shù)化有限元分析方法。建立定子繞組線圈的等效導熱模型,降低了計算難度。解決了定轉(zhuǎn)子之間的氣隙熱交換問題。給出了定子線圈繞組傳熱途徑,建立了等效熱路圖模型,合理處理了溫升對線圈繞組阻值的影響。計算了定子磁極繞組的等效體積,在此基礎上得出了準確的線圈銅耗的生熱率。對溫度場和熱損耗進行分析,給出了徑向主動磁軸承三維全域溫度場模型。采用三因素三水平的正交試驗設計方法,在滿足靜態(tài)懸浮力和最大懸浮力性能要求的前提下,分析并研究了交流主動磁軸承的結構參數(shù)優(yōu)化設計方法,給出了關于溫度的最佳參數(shù)水平組合。仿真結果證明了所選用模型的正確性和所采用方法的實用性和有效性。 3.提出一種抑制交流主動磁軸承徑向和軸向擾動的最優(yōu)H∞輸出反饋控制算法。在本文中,分別采用了最優(yōu)輸出反饋控制和最優(yōu)H∞輸出反饋控制改善磁軸承的徑向和軸向位移調(diào)節(jié)。通過求解Riccati方程得到滿足最小性能指標的輸出反饋控制增益矩陣,并將該增益矩陣反饋到系統(tǒng)中,用來改善系統(tǒng)性能。上述兩種控制方法可以有效調(diào)節(jié)磁軸承的徑向和軸向位移輸出,并通過使用Matlab和Simulink工具箱對其進行了驗證。仿真結果表明文中提出的最優(yōu)H∞輸出反饋控制在有擾動存在情況下,其效果優(yōu)于最優(yōu)輸出反饋控制。 4.提出僅依靠頻率響應確定軸向磁軸承的PID參數(shù)魯棒穩(wěn)定域的方法。首先根據(jù)小增益定理得到閉環(huán)系統(tǒng)的魯棒穩(wěn)定性條件,由此推導出加性不確定性的內(nèi)部穩(wěn)定H∞指標,再由邊界穿越定理和D-分割技術,推導了滿足H∞指標的PID控制器的魯棒參數(shù)穩(wěn)定域邊界的解析表達式。在穩(wěn)定域中選擇PID參數(shù),可以使得系統(tǒng)穩(wěn)定并滿足魯棒性能約束條件。該方法降低了軸向磁軸承PID控制器參數(shù)穩(wěn)定域設計的難度,對時滯系統(tǒng)PID參數(shù)調(diào)節(jié)具有良好的魯棒性和可操作性。仿真實驗證明了本章方法的有效性。 5.設計了基于數(shù)字信號處理器TMS320F2812DSP的五自由度交流主動磁軸承數(shù)字控制系統(tǒng)軟、硬件方案,給出了軟件總體流程圖以及各中斷子流程圖,進行了局部實驗,以實例對所第五章中提出算法的有效性進行了驗證,實現(xiàn)了交流主動磁軸承穩(wěn)定懸浮。提出了詳細的實驗及測試方案,為進一步開展各項參數(shù)調(diào)試與功能測試奠定了基礎。
[Abstract]:Magnetic bearing (the magnetic bearing) has no mechanical contact, no wear, no lubrication, no pollution, high precision, long life and other advantages, in the clean room, the compressor and the satellite and other needs of non-contact bearing situation plays a very important role. This paper studied a new type of AC active the magnetic bearing, and traditional DC magnetic The machine, which has the advantages of compact structure, low cost, easy to drive and control etc. This paper designed the electric spindle system with five degrees of freedom of communication model structure of active magnetic bearing, established the state equation, and taking the temperature as the goal, using the finite element method of the optimization design for the design parameters of the magnetic axis in the scheme of satisfaction. On this basis, the improved robust H output feedback control algorithm to suppress the disturbance of radial and axial magnetic bearings, finally build a digital control system of motorized spindle with five degrees of freedom AC active magnetic bearing, and the spindle of the five degree of freedom suspension technology of basic theory and PID parameter robust stability domain of typical experimental research. The The work is in the National Natural Science Foundation (60974053) and Jiangsu Province Natural Science Fund (BK2012707) to carry out such funding. The main research work and achievements are as follows:
The 1. is designed for three-phase AC high speed electric spindle is supported by active magnetic bearings, using the equivalent circuit method of magnetic circuit of magnetic bearing is calculated, the mathematical model is derived. The suspension force on the basis of the mathematical model and method of performance, the design parameters are given, and the research of its control strategy.
2. of the radial active magnetic bearing parameters of temperature field finite element analysis method. The equivalent heat transfer model of stator winding coil, reduces the difficulty of computation. To solve the problem of heat exchange of air gap between the stator and the rotor windings of a stator coil is given. The heat transfer path, established the equivalent thermal circuit diagram model, the temperature rise of the reasonable treatment coil winding resistance The influence of stator pole winding. The equivalent volume was calculated on the basis of the accurate heat coil copper consumption rate. The temperature field and heat loss analysis, gives the radial active magnetic bearing 3D whole temperature field model. Orthogonal test with three factors and three levels of design method, in the static suspension force and maximum suspension The premise of buoyancy performance requirements, analysis and Research on structure parameters of the AC active magnetic bearing of the optimization design method, gives the best level combination parameters on temperature. The simulation result shows that the model is correct and the method is practical and effective.
3. propose an optimal H robust output AC active magnetic bearing inhibition of radial and axial perturbation feedback control algorithm. In this paper, the optimal feedback control and robust H output feedback control of radial and axial displacement to improve magnetic bearing adjusting optimal output. By solving the Riccati equation satisfied the minimum output performance feedback The control gain matrix, and the feedback gain matrix to the system, to improve the performance of the system. The two control methods can effectively adjust the magnetic bearing radial and axial displacement output, and by using the Matlab Simulink toolbox and verified it. The simulation results show that the optimal feedback control in the noisy H infinite output is proposed in this paper. The The presence of dynamic feedback control, the effect is better than the optimal output.
4. proposed relying only on the frequency response method to determine the parameters of PID robust stability region of the axial magnetic bearing. According to the conditions of robust stability of the closed-loop system by the small gain theorem, deduces the internal stability of H - index of additive uncertainty, by the boundary crossing theorem and D- segmentation technique is deduced to meet PID controller H - index the The analytical expression of the stability region boundary. Robust parameter selection of PID parameters in the stability region, which makes the system stable and satisfy robust performance constraints. This method reduces the axial magnetic bearing PID controller parameters in the stable region and the difficulty of the design, with good robustness and operability of time-delay system. The simulation results of PID parameter adjustment Validity of this method.
5. design of hardware based on five degrees of freedom of communication of digital signal processor TMS320F2812DSP active magnetic bearing control system software, program, gives the software flowchart and the interrupt flow chart of local experiments, based on examples, the fifth chapter verified the validity of the method, the AC active magnetic bearings The stable suspension is proposed. Experiments and detailed test scheme, which lays a foundation for further parameters debugging and function test.
【學位授予單位】：江蘇大學
【學位級別】：博士
【學位授予年份】：2013
【分類號】：TH133.3;TP273

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本文編號：2048216