磁悬浮轴承柔性转子系统的控制研究-机械设计及理论专业论文.docxVIP

南京航空航天大学硕士学位论文 南京航空航天大学硕士学位论文 磁悬浮轴承柔性转子系统的 磁悬浮轴承柔性转子系统的 H∞ 控制研究 I I II II 摘 要 本文将 H∞ 控制理论引入磁悬浮轴承柔性转子系统中，在考虑系统模型的不确定性和外界 干扰的情况下设计了系统的 H∞ 控制器，研究了 H∞ 控制策略对磁悬浮轴承柔性转子系统动态性 能的影响。 在建立磁悬浮系统数学模型的基础上，根据混合灵敏度方法，同时考虑系统低频参数不确 定性、高频未建模动态的不确定性和外界干扰，选取了适当的加权函数，利用 MATLAB 计算 得到系统各个自由度的 H∞ 控制器，分析了该 H∞ 控制下系统的动态特性与抗干扰能力。推导了 等效刚度和等效阻尼的公式，计算出 H∞ 控制下系统等效刚度和等效阻尼随转速变化的曲线， 同时根据集总参数法建立了磁悬浮轴承柔性转子系统的数学模型，并以此编程计算出系统的模 态振型和不平衡响应。在理论分析的基础上，将获得的 H∞ 控制器应用于磁悬浮试验系统中， 编写基于 TMS320F2812DSP 的 H∞ 控制程序，完成了系统静态悬浮试验和高速旋转试验，讨论 了控制参数对系统动态性能的影响。 研究结果表明， H∞ 控制下磁悬浮轴承具有较大的等效刚度和等效阻尼，有利于减小转子 的振动，试验系统能够安全稳定地越过二阶临界弯曲转速，且具有良好的鲁棒稳定性和振动抑 制能力。 关键词：主动磁悬浮轴承，柔性转子， H∞ 控制，混合灵敏度，加权函数 Abstract This paper introduced H∞ control theory into the flexible rotor system supported by active magnetic bearings. H∞ controller was designed under considering the uncertainties of the system model and external disturbance, and the impact of H∞ control on dynamic characteristics of the system was studied.. Based on establishing the mathematical model of the system, the appropriate weighting functions were selected and the H∞ controller was calculated by MATLAB according to the mixed-sensitivity method which considers low-frequency parameter uncertainties, high-frequency unmodeled dynamics and the interference. The equivalent stiffness and equivalent damping under H∞ controller were calculated. The modal shape and unbalance response of the system based on lumped parameter method were analyzed. On the basis of theoretical analysis, the program of H∞ control based on TMS320F2812DSP was built, the experiments of static suspension and high rotation speed of the system were performed to validate the influence of different control parameters on dynamic characteristics of the system. The results show that, H∞ control can improve equivalent stiffness and equivalent damping of the bearings and help to reduce the vibration amplitude of the rotor when the system operates over the first and second bending critical speeds. Keywords: active magnetic bea