钢板磁悬浮系统控制
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摘要
钢板磁悬浮系统可实现钢板的无接触传输,有望取代传统的接触滚轴支撑,具有广阔的应用前景。由于电磁型磁浮系统是结构不稳定的,使得该系统的悬浮控制技术成为整个磁浮系统的关键和核心之一,得到了国内外的广泛关注与研究。本文研究工作基于四电磁铁支撑钢板磁浮试验平台开展,主要研究内容为：
(1)加速度反馈改善系统悬浮品质的研究。
本文利用实测加速度信号实现加速度反馈控制,以提高钢板磁浮系统抑制时变扰动的能力。将应用于刚性悬浮体的加速度反馈控制策略拓展,开展考虑悬浮体谐振效应时,相应加速度控制策略的理论分析和实验研究。
首先,针对实际应用中钢板谐振效应对实施加速度反馈的制约,建立考虑钢板谐振效应的悬浮系统模型,分析谐振效应对悬浮系统闭环稳定性的影响,提出采用加速度陷波器以抑制谐振的控制策略。其次,为快速准确测量钢板谐振频率,简化陷波器实现,采用自适应陷波器实现钢板谐振频率的在线辨识及陷波功能。最后,给出悬浮系统性能指标的选取方法及控制参数的一种设计方法,在一台钢板磁浮装置上验证加速度反馈控制的有效性。
(2)多电磁铁悬浮系统气隙交叉耦合控制。
本文将交叉耦合控制拓展应用到多电磁铁支撑磁浮系统,开展磁浮系统气隙同步协调控制的理论、实验研究,以消除各单电磁铁系统增益参数,动态参数不匹配以及悬浮过程中不确定性扰动对各气隙的影响,改善气隙动态同步性能。
①以双电磁铁支撑悬浮系统(钢板简化为刚性杆)作为研究出发点,探索适合于磁浮系统应用的交叉耦合控制策略,为四电磁铁悬浮系统气隙交叉耦合控制的研究提供理论基础。分析指出了应用传统交叉耦合控制于双电磁铁支撑钢板磁浮系统的缺陷,提出一种改进的交叉耦合控制策略,引入气隙、速度双重交叉耦合,实现气隙同步协调控制。
②传统的交叉耦合控制主要面向双轴系统,同步误差只需选取为双轴输出之差。对于多轴系统,同步误差存在多种选取方式,不同的选取方式对各轴协调性能有不同的影响。因此,寻求合适的同步误差选取方式是应用交叉耦合控制的先决条件。对几种可行的方法进行比较,选择一种适合磁浮系统应用的同步误差构成方法。
③在获取交叉耦合控制律、同步误差选取方式后,需确定系统同步协调控制的实施范围。为实现多电磁铁系统间的优化协调,分别进行局部同步协调和全局同步协调策略的理论研究。最后,在一台钢板磁浮装置上的实验结果验证了本文所提出的气隙动态同步协调控制的有效性。
Steel plate magnetic levitation systems provide such a way of supporting steel plate without any contact that make contactless conveyance possible, which will open up various sphere of application. Much attention have been paid to the magnetic suspension control technology which is considered as one of the key part in the entire magnetic levitation system, due to the fact that magnetic levitation system is inherently unstable. The research work of this dissertation is carried out on the basis of a 4-magnet supported steel plate magnetic suspension system prototype, and the main research aspects are listed as follows:
(1) Research on acceleration feedback control to improve suspension quality of magnetic levitation system.
In order to improve the anti-disturbance ability of steel plate magnetic levitation system, measured acceleration signal is used to realize acceleration feedback control. The traditional acceleration feedback control strategy used for rigid object is extended to the case considering resonance effect, and related theoretical analysis and experimental research on acceleration control is carried out.
Firstly, to overcome the constraint in implementation of acceleration control due to resonant effect, a model of suspension system considering resonant effect is derived and its influence on closed loop stability is analyzed. A control strategy that employs an acceleration notch filter to attenuate vibration is proposed. Secondly, in order to fast and accurately measure the resonance frequency, and simplify the implementation of the notch filter, an adaptive notch filter is adopted to identify the resonant frequency and realize the function of the notch filter. Finally, the method for performance index selection and the way to optimize controller parameters is discussed. Experiments are carried out to verify the validity of acceleration feedback control based on the prototype.
(2) Research on cross-coupled control for gap synchronization of multi-magnet supported magnetic levitation system.
Conventional cross-coupled control is extended to multi-magnet supported magnetic levitation system. Corresponding theoretical and experimental research are developed to implement gap synchronization control of magnetic levitation system in order to eliminate effects on gap due to gain parameter, dynamic parameter mismatch between each single magnet suspension system and uncertain disturbances while steel plate is levitated, to improve gap dynamic synchronization performance.
Firstly, research starts on the basis of one 2-magnet supported magnetic levitation system to seek appropriate cross-coupled control strategy suitable for magnetic suspension system so as to provide theoretical basis for 4-magnet supported magnetic levitation system. Drawbacks of applying traditional cross-coupled control to 2-magnet supported magnetic levitation system is pointed out and then one improved cross-coupled control strategy is proposed by introducing both gap and velocity cross-coupled terms to realize gap synchronization control.
Secondly, conventional cross-coupled control is oriented for double-axis system so that synchronization error can be simply chosen as the output difference between those two axes. However, for multi-axis system, there are many ways to select synchronization error and different selection ways have different influence on the coordinated performance of each axis. So, it is vital to seek appropriate way to construct synchronization error to implement cross-coupled control. Several applicable methods are compared and one of the most suitable ways is determined to utilize in the magnetic levitation system.
Thirdly, while the cross-coupled control law and synchronization error selection is derived, the scope of implementation synchronization coordinated control should be determined. Theoretical research concerning local and global synchronized coordinated control strategy is carried out respectively to obtain optimized coordination of multi-magnet systems. Experiments are carried out on the prototype of steel plate magnetic levitation system and experimental results show the effectiveness of the proposed control method.
(1)加速度反馈改善系统悬浮品质的研究。
本文利用实测加速度信号实现加速度反馈控制,以提高钢板磁浮系统抑制时变扰动的能力。将应用于刚性悬浮体的加速度反馈控制策略拓展,开展考虑悬浮体谐振效应时,相应加速度控制策略的理论分析和实验研究。
首先,针对实际应用中钢板谐振效应对实施加速度反馈的制约,建立考虑钢板谐振效应的悬浮系统模型,分析谐振效应对悬浮系统闭环稳定性的影响,提出采用加速度陷波器以抑制谐振的控制策略。其次,为快速准确测量钢板谐振频率,简化陷波器实现,采用自适应陷波器实现钢板谐振频率的在线辨识及陷波功能。最后,给出悬浮系统性能指标的选取方法及控制参数的一种设计方法,在一台钢板磁浮装置上验证加速度反馈控制的有效性。
(2)多电磁铁悬浮系统气隙交叉耦合控制。
本文将交叉耦合控制拓展应用到多电磁铁支撑磁浮系统,开展磁浮系统气隙同步协调控制的理论、实验研究,以消除各单电磁铁系统增益参数,动态参数不匹配以及悬浮过程中不确定性扰动对各气隙的影响,改善气隙动态同步性能。
①以双电磁铁支撑悬浮系统(钢板简化为刚性杆)作为研究出发点,探索适合于磁浮系统应用的交叉耦合控制策略,为四电磁铁悬浮系统气隙交叉耦合控制的研究提供理论基础。分析指出了应用传统交叉耦合控制于双电磁铁支撑钢板磁浮系统的缺陷,提出一种改进的交叉耦合控制策略,引入气隙、速度双重交叉耦合,实现气隙同步协调控制。
②传统的交叉耦合控制主要面向双轴系统,同步误差只需选取为双轴输出之差。对于多轴系统,同步误差存在多种选取方式,不同的选取方式对各轴协调性能有不同的影响。因此,寻求合适的同步误差选取方式是应用交叉耦合控制的先决条件。对几种可行的方法进行比较,选择一种适合磁浮系统应用的同步误差构成方法。
③在获取交叉耦合控制律、同步误差选取方式后,需确定系统同步协调控制的实施范围。为实现多电磁铁系统间的优化协调,分别进行局部同步协调和全局同步协调策略的理论研究。最后,在一台钢板磁浮装置上的实验结果验证了本文所提出的气隙动态同步协调控制的有效性。
Steel plate magnetic levitation systems provide such a way of supporting steel plate without any contact that make contactless conveyance possible, which will open up various sphere of application. Much attention have been paid to the magnetic suspension control technology which is considered as one of the key part in the entire magnetic levitation system, due to the fact that magnetic levitation system is inherently unstable. The research work of this dissertation is carried out on the basis of a 4-magnet supported steel plate magnetic suspension system prototype, and the main research aspects are listed as follows:
(1) Research on acceleration feedback control to improve suspension quality of magnetic levitation system.
In order to improve the anti-disturbance ability of steel plate magnetic levitation system, measured acceleration signal is used to realize acceleration feedback control. The traditional acceleration feedback control strategy used for rigid object is extended to the case considering resonance effect, and related theoretical analysis and experimental research on acceleration control is carried out.
Firstly, to overcome the constraint in implementation of acceleration control due to resonant effect, a model of suspension system considering resonant effect is derived and its influence on closed loop stability is analyzed. A control strategy that employs an acceleration notch filter to attenuate vibration is proposed. Secondly, in order to fast and accurately measure the resonance frequency, and simplify the implementation of the notch filter, an adaptive notch filter is adopted to identify the resonant frequency and realize the function of the notch filter. Finally, the method for performance index selection and the way to optimize controller parameters is discussed. Experiments are carried out to verify the validity of acceleration feedback control based on the prototype.
(2) Research on cross-coupled control for gap synchronization of multi-magnet supported magnetic levitation system.
Conventional cross-coupled control is extended to multi-magnet supported magnetic levitation system. Corresponding theoretical and experimental research are developed to implement gap synchronization control of magnetic levitation system in order to eliminate effects on gap due to gain parameter, dynamic parameter mismatch between each single magnet suspension system and uncertain disturbances while steel plate is levitated, to improve gap dynamic synchronization performance.
Firstly, research starts on the basis of one 2-magnet supported magnetic levitation system to seek appropriate cross-coupled control strategy suitable for magnetic suspension system so as to provide theoretical basis for 4-magnet supported magnetic levitation system. Drawbacks of applying traditional cross-coupled control to 2-magnet supported magnetic levitation system is pointed out and then one improved cross-coupled control strategy is proposed by introducing both gap and velocity cross-coupled terms to realize gap synchronization control.
Secondly, conventional cross-coupled control is oriented for double-axis system so that synchronization error can be simply chosen as the output difference between those two axes. However, for multi-axis system, there are many ways to select synchronization error and different selection ways have different influence on the coordinated performance of each axis. So, it is vital to seek appropriate way to construct synchronization error to implement cross-coupled control. Several applicable methods are compared and one of the most suitable ways is determined to utilize in the magnetic levitation system.
Thirdly, while the cross-coupled control law and synchronization error selection is derived, the scope of implementation synchronization coordinated control should be determined. Theoretical research concerning local and global synchronized coordinated control strategy is carried out respectively to obtain optimized coordination of multi-magnet systems. Experiments are carried out on the prototype of steel plate magnetic levitation system and experimental results show the effectiveness of the proposed control method.
引文
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