电磁轴承高速电机转子系统的内模-PID控制

doi:10.19595/j.cnki.1000-6753.tces.190852

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摘要 PID控制是电磁轴承（AMB）高速电机转子系统最基本的控制算法, 但PID参数的整定困难。为了减小PID参数整定的难度, 将内模控制（IMC）与PID控制相结合, 该文设计IMC-PID控制器, 将三个参数的整定问题减少到一个参数。然后, 分析该参数对系统的稳定性、抗干扰能力、最大振幅以及临界转速的影响, 给出了其选取的原则。最后, 分别在单自由度磁悬浮系统和四自由度AMB高速电机转子系统上对IMC-PID控制器进行了仿真, 并在AMB高速电机平台上进行试验。仿真和试验结果均表明, IMC-PID控制方法具有良好的控制性能和较强的鲁棒性。

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关键词 ：电磁轴承高速电机, PID参数整定, 内模控制, PID控制

Abstract：PID control is the most widely used control method in rotor system of an active magnetic bearing (AMB) high-speed motor. However, it is difficult to find three proper parameters for PID controllers. In order to reduce the difficulty of PID parameters tuning, an internal model control (IMC) was combined with PID control to design an IMC-PID controller, which transforms the tuning process of three parameters into one. Then, the influences of the only parameter on the stability, anti-interference ability, maximum vibration amplitude and critical speed of rotor system were analyzed, and the rules for its selection were clarified. At last, the designed IMC-PID controller was simulated on a single-degree-of-freedom magnetically levitated system and an AMB high-speed motor rotor system, and the related experiments were carried out on an AMB high-speed motor platform. Both simulation and experimental results show that IMC-PID control has good control performance and strong robustness.

Key words： Active magnetic bearing high-speed motor PID parameters tuning internal model control PID control

收稿日期: 2019-07-16

PACS:

TM351

通讯作者: 祝长生男, 1963年生, 教授, 博士生导师, 研究方向为转子系统动力学、高速电机及飞轮储能等。E-mail: zhu_zhang@zju.edu.cn

作者简介: 周天豪男, 1996年生, 博士研究生, 研究方向为高速转子系统振动主动控制。E-mail: zhouth419@163.com

引用本文:

周天豪, 杨智, 祝长生, 李鹏飞. 电磁轴承高速电机转子系统的内模-PID控制[J]. 电工技术学报, 2020, 35(16): 3414-3425. Zhou Tianhao, Yang Zhi, Zhu Changsheng, Li Pengfei. Internal Model Control-PID Control of An Active Magnetic Bearing High-Speed Motor Rotor System. Transactions of China Electrotechnical Society, 2020, 35(16): 3414-3425.

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