磁轴承参数辨识与数控平台研究-parameter identification of magnetic bearing and research on numerical control platform.docxVIP

国防科学技术大学研究生院工学硕士学位论文国防科学技术大学研究生院工学硕士学位论文第 第 i 页摘 要主动磁轴承是一种新型的高性能轴承，已被广泛用于机械加工、涡轮机械、 航空航天等领域，被公认为是极有前途的新型轴承。控制器是磁轴承系统的核心， 为了得到更加精确的控制器，设计一个品质优良的控制器必须先深入了解系统的 模型，因此系统模型辨识就显得极其重要，本论文的主要研究工作有：(1)研究了磁轴承系统的受力模型。建立了磁轴承的动力学方程，推导得到了 飞轮转子的位移微分方程，并建立了状态方程。建立磁轴承系统各个环节的模型， 为后面的模型辨识仿真做准备，对系统的控制进行了仿真分析。(2)回顾了系统辨识的基础理论和基本方法。阐述了参数辨识的几种方法，最 小二乘法、极大似然估计等。重点研究了子空间辨识的理论方法，子空间辨识方 法的定义、实现过程。(3)研究了子空间辨识的算法，分析算法中用到的正交投影理论和数值方法， 在建立磁轴承系统各个环节模型的基础上用子空间辨识算法对磁轴承系统进行系 统辨识仿真，并用参数辨识方法通过实验获得了磁轴承系统的力-位移系数和力- 电流系数。(4)基于 PXIe-8108 控制器和 LabVIEW 软件构建了磁轴承的数字控制平台，用 构建的平台进行磁轴承控制的实验研究，在磁轴承系统静态悬浮的基础上获得了 位移振动曲线，并合成上下轴的轴心轨迹。本论文应用子空间的辨识方法实现了磁轴承系统模型的辨识仿真，得到了与 理论模型较为吻合的仿真结果，并应用 PXIe 数字控制平台实现了磁轴承系统的稳 定悬浮。主题词：主动磁轴承 控制器 系统辨识 子空间辨识 数控平台 LabVIEWABSTRACTThe Active Magnetic Bearing which is a new type of bearing with high performance, is widely used in the field of mechanism, turbine, vacuum and so on, and is recognized for its brilliant application fireground. Controller is the core of the Active Magnetic Bearing system, We must understand the model of the system deeply, to get a more accurate controller and then design a controller of better quality, so the model identification of the system is so important. The main research work in this thesis are:The mechanical model of magnetic bearing system was studied. The dynamic equations were established. Then the differential equation and also the state equation of the displacement of flywheel rotator were derived. What’s more, the model of each procedure in the magnetic bearing system was given and the diagram of traditional transfer function of the single channel magnetic bearing system was also constructed, which made preparations for the following model identification and simulation.The fundamental theories and methodologies of System Identification were retrospect. Several methodologies for parameters identification were introduced, including Least Square method, Maximum Likelihood Estimation method and so on. But the main study was focused on the theory and methodolo