本文關(guān)鍵詞：立式無(wú)軸承電機(jī)轉(zhuǎn)子定位控制系統(tǒng)的研究　出處：《北京交通大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 無(wú)軸承電機(jī) 豎直轉(zhuǎn)子 直線感應(yīng)電機(jī) 解耦 陀螺效應(yīng) 定位算法 自適應(yīng)控制

【摘要】：單邊軸承的低速豎直旋轉(zhuǎn)裝置在日常生活、工業(yè)生產(chǎn)和科學(xué)研究中有著廣泛的應(yīng)用。這類裝置由于結(jié)構(gòu)或功能限制,往往只有下端有機(jī)械軸承固定,而上端開(kāi)放,這就使得轉(zhuǎn)子運(yùn)行時(shí)的振動(dòng)成為一個(gè)不容忽視的問(wèn)題,并由振動(dòng)衍生出噪音、設(shè)備磨損等問(wèn)題。本文針對(duì)這類轉(zhuǎn)子振動(dòng)問(wèn)題,提出一種新型的轉(zhuǎn)子定位控制系統(tǒng)。該系統(tǒng)由多個(gè)共用轉(zhuǎn)子的弧形直線感應(yīng)電機(jī)組成,通過(guò)直線感應(yīng)電機(jī)定轉(zhuǎn)子之間的法向力來(lái)對(duì)轉(zhuǎn)子進(jìn)行非接觸式定位控制,以減小轉(zhuǎn)子的振動(dòng);通過(guò)直線感應(yīng)電機(jī)定轉(zhuǎn)子之間的切向力來(lái)驅(qū)動(dòng)轉(zhuǎn)子轉(zhuǎn)動(dòng)。這種轉(zhuǎn)子定位控制系統(tǒng)的基本思想與磁懸浮軸承或無(wú)軸承電機(jī)系統(tǒng)相同,都是通過(guò)對(duì)轉(zhuǎn)子施加非接觸的電磁力來(lái)控制轉(zhuǎn)子位置。但是,傳統(tǒng)的磁懸浮軸承主要研究的是高速水平轉(zhuǎn)子,而對(duì)于低速豎直轉(zhuǎn)子則研究較少。在低速豎直轉(zhuǎn)子的運(yùn)動(dòng)中存在著許多特殊情況:首先,低速情形下,轉(zhuǎn)子本身是一個(gè)不穩(wěn)定的系統(tǒng);其次,豎直情形下,轉(zhuǎn)子的運(yùn)動(dòng)中將會(huì)呈現(xiàn)更為復(fù)雜的非線性動(dòng)力學(xué)特性。這些特點(diǎn)使得豎直低速轉(zhuǎn)子的定位控制原理變得更為復(fù)雜。另一方面,傳統(tǒng)的無(wú)軸承電機(jī)方案,是通過(guò)在定子繞組中附加懸浮繞組來(lái)實(shí)現(xiàn)轉(zhuǎn)子懸浮,原理、結(jié)構(gòu)和工藝都比較復(fù)雜,而采用多個(gè)直線感應(yīng)電機(jī)來(lái)進(jìn)行轉(zhuǎn)子定位控制,則可以省去附加繞組,使得電機(jī)結(jié)構(gòu)簡(jiǎn)單、加工容易。因此,本文的研究既具有一定的理論難度,又具有一定的應(yīng)用前景。本文首先提出了基于共用轉(zhuǎn)子的多弧形直線電機(jī)的豎直轉(zhuǎn)子定位控制系統(tǒng)的基本結(jié)構(gòu),并對(duì)構(gòu)成控制系統(tǒng)各個(gè)主要模塊的功能及數(shù)學(xué)模型進(jìn)行了介紹,重點(diǎn)討論了多直線電機(jī)結(jié)構(gòu)的轉(zhuǎn)子驅(qū)動(dòng)機(jī)理。其次對(duì)控制系統(tǒng)的執(zhí)行器——直線感應(yīng)電機(jī)的解耦控制進(jìn)行了討論,提出了基于穩(wěn)態(tài)性能的法向力和切向力解耦算法,將其推廣到動(dòng)態(tài)過(guò)程中。仿真結(jié)果顯示,該算法基本實(shí)現(xiàn)了法向力和切向力的解耦,這使得本文可以把研究重點(diǎn)集中于采用法向力實(shí)現(xiàn)豎直轉(zhuǎn)子的定位控制。在上述研究基礎(chǔ)上,本文提出了基于陀螺效應(yīng)原理的轉(zhuǎn)子定位控制算法,并通過(guò)仿真將其與基于線性系統(tǒng)理論的極點(diǎn)配置控制算法效果進(jìn)行了對(duì)比。對(duì)比結(jié)果表明,基于陀螺效應(yīng)的轉(zhuǎn)子定位算法具有較好的魯棒性。在轉(zhuǎn)子的運(yùn)轉(zhuǎn)過(guò)程中,各種不確定性和非線性特性都會(huì)對(duì)轉(zhuǎn)子的定位控制產(chǎn)生不利影響。為了克服這些不確定性的影響,本文研究了基于名自適應(yīng)控制理論的轉(zhuǎn)子定位系統(tǒng)的控制策略,從理論上分析了自適應(yīng)控制系統(tǒng)的輸入狀態(tài)穩(wěn)定性問(wèn)題,通過(guò)仿真考察了自適應(yīng)增益對(duì)自適應(yīng)控制系統(tǒng)的性能和效果。接下來(lái),針對(duì)轉(zhuǎn)子啟動(dòng)過(guò)程,探討了在自轉(zhuǎn)轉(zhuǎn)速動(dòng)態(tài)過(guò)程中轉(zhuǎn)子的定位算法的有效性,通過(guò)仿真比較了在轉(zhuǎn)子加速過(guò)程中各種定位算法的局限性和優(yōu)劣,并提出了一種基于反饋線性化的轉(zhuǎn)子定位算法,用以實(shí)現(xiàn)在加速過(guò)程中的可靠定位。最后,本文設(shè)計(jì)研制了基于dSPACE的轉(zhuǎn)子定位控制實(shí)驗(yàn)臺(tái),以其為基礎(chǔ)進(jìn)行了定位控制策略的模擬實(shí)驗(yàn),驗(yàn)證了基于陀螺效應(yīng)和基于l1自適應(yīng)控制理論的定位控制策略的有效性。實(shí)驗(yàn)結(jié)果表明,基于陀螺效應(yīng)的定位控制策略能夠明顯減小豎直轉(zhuǎn)子自轉(zhuǎn)時(shí)主軸偏離豎直位置的偏角,而基于l1自適應(yīng)控制理論的定位策略能夠在此基礎(chǔ)上進(jìn)一步減小豎直轉(zhuǎn)子主軸偏角。說(shuō)明定位控制策略能夠有效減小豎直轉(zhuǎn)子轉(zhuǎn)動(dòng)時(shí)主軸偏離豎直位置的偏角。
[Abstract]:Unilateral bearing low-speed vertical rotation device in daily life, has been widely used in industrial production and scientific research. This kind of device due to structural or functional limitations, often only at the lower end of the mechanical bearing is fixed, and the upper end is open, which makes the vibration of the rotor when running into a problem can not be ignored, and derived by vibration out of the noise, equipment wear. Aiming at this kind of rotor vibration problem, put forward a new rotor position control system. The system is composed of a plurality of common arc linear induction motor rotor composed by linear induction electric machine rotor between the normal force of the rotor for non-contact positioning control, vibration reduce the rotor; through the linear induction motor stator and rotor of the tangential force to drive the rotation of the rotor. The basic idea of this rotor position control system with magnetic bearings or bearing electric machine system The same is to control the rotor position by applying a non-contact electromagnetic force of the rotor. However, the traditional magnetic bearing main research is in the high level of the rotor, and the rotor speed for vertical research less. In the low-speed vertical movement of the rotor has many special circumstances: firstly, under the condition of low speed, the rotor itself is a a stable system; secondly, the vertical movement of the rotor case, will show more complex nonlinear dynamics. These features make the vertical positioning control principle of rotor speed becomes more complex. On the other hand, the traditional scheme of bearingless motor, through additional suspension winding in the stator windings to achieve rotor suspension, principle, structure and process are more complex, and using multiple linear induction motor for rotor position control, it eliminates the need for additional winding, the motor has the advantages of simple structure, and Easy to process. Therefore, this study has a certain theoretical difficulty, but also has a certain application prospect. This paper puts forward the basic structure of the vertical rotor position of the rotor arc linear motor share based control system, and the function of mathematical model and control system of each main module are introduced and discussed the rotor structure of linear motor driving mechanism. Secondly the implementation of - linear induction motor control system decoupling control are discussed, put forward the method based on the steady-state performance and tangential force decoupling algorithm, extended to dynamic process. The simulation results show that this algorithm achieves the basic normal force and the tangential force decoupling, which makes this can focus on using the method to achieve positioning control of rotor vertical force. On the basis of the research above, this paper puts forward based on gyro Control algorithm of rotor positioning effect principle, and through the simulation based on linear system theory and pole assignment algorithm were compared. The comparison result shows that the rotor gyro effect based localization algorithm has better robustness. In the process of the rotation of the rotor, the uncertainties and nonlinear characteristics of rotor position will be adversely affect the control. In order to overcome these uncertainties, this paper studies the control strategy of the rotor positioning system based on a adaptive control theory, from the theoretical analysis of the problem of input to state stability of adaptive control system, simulation examines the performance and effect of adaptive gain adaptive control system. Then, according to the rotor startup process to investigate the effectiveness of the algorithm, the rotor rotation speed in the dynamic process, compared with in the rotor All kinds of localization algorithm in the process of speed limitations and disadvantages, and proposes a rotor positioning algorithm based on feedback linearization is used to realize reliable positioning during the acceleration process. Finally, this paper designs a rotor positioning control experiment platform based on dSPACE, based on the simulated positioning control strategy and verified based on the gyroscopic effect and effectiveness of L1 positioning based on adaptive control theory control strategy. Experimental results show that the strategy can significantly reduce the vertical angle of rotation of the rotor spindle deviation from the vertical position control positioning gyroscopic effect based on the positioning strategy of L1 adaptive control theory can further reduce the vertical shaft angle based on that position control strategy can effectively reduce the vertical angle of rotation axis deviates from the vertical position.

【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM346;TP273

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