基于平均功率平衡控制的磁悬浮分子泵电力失效补偿
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摘要
高速磁悬浮涡轮分子泵因其高能量密度、微振动、无需润滑等优点被广泛应用于工业领域,但外部电源失效时,高速转子跌落后与保护轴承产生剧烈撞击和摩擦,将给系统带来致命损害。针对以上问题,提出一种基于平均功率平衡法的电力失效补偿控制方法。首先,设计电机能量回馈电路;其次,对Buck-Boost变换器进行数学建模,设计一种双环非线性控制器,其中电流内环使用滑模控制,电压外环使用平均功率平衡控制,并利用Lyapunov函数推导出系统的稳定性条件;最后,通过搭建磁悬浮分子泵PFCC实验平台,对所提出的方法进行实验验证。结果表明:本文所提出的方法具有快速响应和输出鲁棒性,磁悬浮转子由额定转速21 000r/min降至3 900r/min时跌落,电机的能量转化效率为96.6%,提高了磁轴承系统的安全性。
High-speed magnetically suspended Turbo Molecular Pumps(TMPs)have been widely used in industrial applications for their high energy density, micro-vibration,and no lubrication requirements.However,the Active Magnetic Bearing(AMB)system will lose magnetic force once the main power fails,which may cause severe damage to the rotor and stator systems.In this study,an improved Power Failure Compensation Control(PFCC)method based on Average Power Balance Control(APBC)was proposed.First,a motor energy feedback circuit was designed.Then,a nonlinear controller consisting of double control loops was proposed,of which the fast inner current loop used Sliding Mode Control(SMC)and the outer voltage loop used APBC.The Lyapunov function was structured and analyzed to ensure system stability.Finally,aplatform based on the high-speed magnetically suspended TMP was built.Several experimental results verify that the proposed PFCC method has fast response and robustness;meanwhile,the touchdown speed of the rotor is reduced to 3 900 r/min from the rated speed of 21 000 r/min with a higher energy conversion efficiency of up to 96.6%,which greatly improves the safety of the AMB system.
High-speed magnetically suspended Turbo Molecular Pumps(TMPs)have been widely used in industrial applications for their high energy density, micro-vibration,and no lubrication requirements.However,the Active Magnetic Bearing(AMB)system will lose magnetic force once the main power fails,which may cause severe damage to the rotor and stator systems.In this study,an improved Power Failure Compensation Control(PFCC)method based on Average Power Balance Control(APBC)was proposed.First,a motor energy feedback circuit was designed.Then,a nonlinear controller consisting of double control loops was proposed,of which the fast inner current loop used Sliding Mode Control(SMC)and the outer voltage loop used APBC.The Lyapunov function was structured and analyzed to ensure system stability.Finally,aplatform based on the high-speed magnetically suspended TMP was built.Several experimental results verify that the proposed PFCC method has fast response and robustness;meanwhile,the touchdown speed of the rotor is reduced to 3 900 r/min from the rated speed of 21 000 r/min with a higher energy conversion efficiency of up to 96.6%,which greatly improves the safety of the AMB system.
引文
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[2]ZHENG SH Q,HAN B CH,GUO L.Composite hierarchical antidisturbance control for magnetic bearing system subject to multiple external disturbances[J].IEEE Trans.Ind.Electron.,2014,61(12):7004-7012.
[3]蒲芃成,张剀,于金鹏,等.力自由不平衡控制下的高速磁悬浮飞轮系统在线动平衡[J].光学精密工程,2017,25(7):1796-1806.PU P CH,ZHANG K,YU J P,et al..On-line balancing of high-speed magnetic suspended flywheel system under force free control of imbalance[J].Opt.Precision Eng.,2017,25(7):1796-1806.(in Chinese)
[4]韩邦成,王凯,郑世强,等.磁悬浮高速离心式鼓风机的喘振检测[J].光学精密工程,2017,25(4):910-918.HAN B CH,WANG K,ZHENG SH Q,et al..Surge detection of magnetically suspended highspeed centrifugal blower[J].Opt.Precision Eng.,2017,25(4):910-918.(in Chinese)
[5]王坤,张利胜,陈少华,等.磁悬浮分子泵用Hartley涡流传感器[J].光学精密工程,2018,26(2):344-354.WANG K,ZHANG L SH,CHEN SH H,et al..Hartley eddy current sensor used in maglev molecular pump[J].Opt.Precision Eng,2018,26(2):344-354.(in Chinese)
[6]WU Q F,WANG Q,XU Z,et al..One current adaptive switching strategy for DC/DC converter with spike limitation[J].Journal of Engineering,2018,2018(2):49-59.
[7]LIN H Y.Power supply circuit of a high speed electric motor:US,US7116066[P].2006.
[8]YONETA T,UNNO T,KURITA Y,et al..Power supply circuit for magnetic bearing system:US,US5574345[P].1996.
[9]ESTIMA J,CARDOSO A J M.A new algorithm for real-time multiple open-circuit fault diagnosis in voltage-fed PWM motor drives by the reference current errors[J].IEEE Transactions on Industrial Electronics,2013,60(8):3496-3505.
[10]武俊峰.小电感无刷直流电机不同驱动结构下的控制特性及功耗比较[J].电工技术学报,2012,27(8):270-275.WU J F.Comparison of power loss and control characteristic under different drive structure for small inductance BLDC motor[J].Transactions of China Electrotechnical Society,2012,27(8):270-275.(in Chinese)
[11]张樱子,李红,毛琨.磁悬浮高速永磁电机电力失效补偿方法与实验研究[J].微电机,2014,47(12):22-25.ZHANG Y Z,LI H,MAO K.Research on power failure compensation method of magnetic suspended high speed pm motors[J].Micromotors,2014,47(12):22-25.(in Chinese)
[12]LIU G,MAO K.A novel power failure compensation control method for active magnetic bearings used in high-speed permanent magnet motor[J].IEEE Transactions on Power Electronics,2016,31(6):4565-4575.
[13]李红梅,张恒果,崔超,等.车载充电PWM软开关DC-DC变换器研究综述[J].电工技术学报,2017,32(24):59-70.LI H M,ZHANG H G,CUI CH,et al..Review of PWM soft-switching DC-DC converter for on-board chargers[J].Transactions of China Electrotechnical Society,2017,32(24):59-70.(in Chinese)
[14]刘刚,孙庆文,肖烨然.永磁同步电机用坐标变换的电流谐波抑制方法[J].电机与控制学报,2015,19(5):30-36.LIU G,SUN Q W,XIAO Y R.Permanent magnet synchronous motor current harmonics suppression based on coordinate transformation[J].Electric Machines and Control,2015,19(5):30-36.(in Chinese)
[15]ZHENG S,XIE J,MA C,et al..Improving dynamic response of amb systems in control moment gyros based on modified integral feedforward method[J].IEEE/ASME Transactions on Mechatronics,2017,22(5):2111-2120.
[16]赵晗彤,张建成.基于滑模控制的飞轮储能稳定光伏微网离网运行母线电压策略的研究[J].电力系统保护与控制,2016,44(16):36-42.ZHAO H T,ZHANG J CH.Research on bus voltage control strategy of off-grid pv microgrid with flywheel energy storage system based on sliding mode control[J].Power System Protection and Control,2016,44(16):36-42.(in Chinese)
[17]吴宇,皇甫宜耿,张琳,等.大扰动Buck-Boost变换器的鲁棒高阶滑模控制[J].中国电机工程学报,2015,35(7):1740-1748.WU Y,HUANGFU Y G,ZHANG L,et al..A robust high order sliding mode for buck-boost converters with large disturbances[J].Proceedings of the CSEE,2015,35(7):1740-1748.(in Chinese)
[18]DASHTESTANI A,BAKKALOGLU B.A fast settling oversampled digital sliding-mode DC-DCconverter[J].IEEE Transactions on Power E-lectronics,2014,30(2):1019-1027.
[19]黄宴委,刘喆怡,熊少华,等.基于二阶终端滑模优化的电流环滑模控制[J].电机与控制学报,2018,22(3):74-81.(in Chinese)HUANG Y W,LIU ZH Y,XIAO SH H,et al.Sliding mode control for current loop by second order terminal sliding mode[J].Electric Machines and Control,2018,22(3):74-81.(in Chinese)
[20]王艳敏,曹雨晴,夏红伟.Buck变换器的电压电流双闭环终端滑模控制[J].电机与控制学报,2016,20(8):92-97.WANG Y M,CAO Y Q,XIA H W.Terminal sliding mode control for buck converter with structure of voltage and current double closed loop[J].Electric Machines and Control,2016,20(8):92-97.(in Chinese)
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