CN102136822B - Five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and construction method thereof - Google Patents
Five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and construction method thereof Download PDFInfo
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Abstract
The invention discloses a five-DOF (freedom of degree) bearingless synchronous reluctance motor decoupling controller and a construction method thereof. Three expanded current hysteresis loop PWM (pulse width modulation) inverters, a switch power amplifier and a five-DOF bearingless synchronous reluctance motor form a compound controlled object; five support vector machine second-order systems, one support vector machine first-order system and eleven integrators are utilized to construct a support vector machine alpha-order inverse system and offline training is carried out, the support vector machine alpha-order inverse system is placed in front of the compound controlled object to form a pseudo linear system, and the pseudo linear system is equivalent to five position second-order integration subsystems and one position first-order integration subsystem; and five position controllers and one rotating speed controller are respectively designed for the six integration subsystems, thus a linear closed-loop controller is formed. In the invention, a least square support vector machine is adopted to approach an alpha-order inverse model of a nonlinear system, the dynamic decoupling control among all the controlled variables is realized, and the control performance of the overall system is effectively improved.
Description
Technical field
The present invention is a kind of decoupling controller of five-degree-freedom bearingless synchronous reluctance motor and building method thereof, is applicable at a high speed and ultrahigh speed electric drive field.Bearingless synchronous reluctance motor is with a wide range of applications at special electric transmission fields such as machine tool chief axis, turbomolecular pump, centrifuge, compressor, dynamo-electric energy storage, Aero-Space, belongs to the technical field of electric driving controlgear.
Background technology
Compare with traditional bearing-free motor, synchronous magnetic resistance motor has many advantages: on rotor, omitted permanent magnet, also without excitation winding, simple in structure, reliable, cost is low, also because it can realize very high salient pole ratio, thereby there is the advantages such as high torque density, fast dynamic response, low torque ripple, low-loss, High Power Factor simultaneously, be more applicable at a high speed and high-precision applications field.To be applied to synchronous magnetic resistance motor without bearing technology and magnetic bearing technology, utilize magnetic field force by rotor suspension in the air, make between rotor and stator without any Mechanical Contact, make bearingless synchronous reluctance motor not only there is synchronous magnetic resistance motor, have again unlubricated, life-span long, without advantages such as friction, machinery-free noises, meet the requirement of numerous occasion needs high speeds or ultrahigh speed electric drive, in special applications places such as high speed electric drive, had unique advantage.
Five degrees of freedom without bearing synchronous magnetic resistance motor is the multi-input multi-output system of non-linear a, close coupling, and it is carried out to dynamic Decoupling Control of Load Torque is to realize the key of the reliable and stable work of bearingless synchronous reluctance motor.If adopting decentralized control method controls system, ignored the coupling between each variable of system, cannot meet the requirement of high-speed, high precision running, must carry out decoupling zero to system, respectively radial suspension force and the electromagnetic torque of the radial suspension force of independent control magnetic bearing, axial suspension power, motor.
In conventional decoupling control method, vector control can only realize the Static Decoupling Control of torque and suspending power, and its dynamic response performance can't be satisfactory; Although Differential Geometry method can realize the dynamic decoupling of system, problem need to be transformed in how much territories and discuss, and the mathematical tool very complex using, abstract; Method of inverse can realize the dynamic decoupling of system, but need to know the mathematical models of controlled device, is difficult to be applied in engineering practice; Neural net reversed decoupling is controlled and can resolved the contrary dynamic decoupling of realizing system be difficult to try to achieve in the situation that, but neural net also exists in theoretical and method for designing, pace of learning is slow, the training time is long, desirable sample extraction difficulty, network configuration is difficult for optimization and waits the defect that is difficult to overcome.
Number of patent application is 201010117622.4, name is called: bearingless synchronous reluctance motor SVMs inverse system composite controller, adopt SVMs inverse system composite controller to carry out decoupling zero control to two degrees of freedom bearingless synchronous reluctance motor, its for control object be two degrees of freedom bearingless synchronous reluctance motor, but the five degrees of freedom without bearing synchronous magnetic resistance motor more complicated to the structure consisting of two degrees of freedom bearingless synchronous reluctance motor and Three Degree Of Freedom active magnetic bearings cannot carry out decoupling zero control, the five degrees of freedom without bearing synchronous magnetic resistance motor not only structure of motor is more complicated, and due to when setting up Equation of Motion, rotor is regarded as to coupled problem between each degree of freedom of rigid body and taking into account system and the gyroscopic effect of system, make its Mathematical Modeling, control method, there is essential distinction in decoupling zero difficulty and two degrees of freedom bearingless synchronous reluctance motor.
Summary of the invention
The object of the invention is provides a kind of decoupling controller of five-degree-freedom bearingless synchronous reluctance motor based on least square method supporting vector machine for overcoming the defect of above-mentioned prior art, the decoupling zero that both can realize between radial suspension force, axial suspension power, motor radial suspension force and the electromagnetic torque of magnetic bearing is controlled, can obtain again good every Control performance standard, regulating characteristics as dynamic and static in rotor radial position and torque, speed adjusting function.
The present invention also provides the building method of this decoupling controller of five-degree-freedom bearingless synchronous reluctance motor simultaneously, for this non-linear, close coupling complication system of five degrees of freedom without bearing synchronous magnetic resistance motor, adopt least square method supporting vector machine to construct the inverse system model of compound control object, realize the independent of the radial suspension force of magnetic bearing, axial suspension power, motor radial suspension force and these 6 variablees of electromagnetic torque controlled.
The technical scheme that decoupling controller of five-degree-freedom bearingless synchronous reluctance motor of the present invention adopts is: five degrees of freedom without bearing synchronous magnetic resistance motor comprises Three Degree Of Freedom active magnetic bearings a, two degrees of freedom bearingless synchronous reluctance motor b and rotor e, decoupling controller of five-degree-freedom bearingless synchronous reluctance motor is comprised of the linear closed-loop controller before pseudo-linear system and serial connection, pseudo-linear system is comprised of the SVMs α rank inverse system before composite controlled object and serial connection, composite controlled object consists of jointly the Hysteresis Current PWM inverter of three expansions and switch power amplifier and five degrees of freedom without bearing synchronous magnetic resistance motor, before the Hysteresis Current PWM inverter of the first expansion and switch power amplifier are connected in series respectively Three Degree Of Freedom active magnetic bearings a, second, before the Hysteresis Current PWM inverter of the 3rd expansion is connected in series respectively two degrees of freedom bearingless synchronous reluctance motor b, SVMs α rank inverse system adds 11 integrators by 5 SVMs, 2 rank systems and a SVMs 1 rank system and forms, and linear closed-loop controller is comprised of five rotor-position controllers and a rotational speed governor.
The technical scheme of the building method of decoupling controller of five-degree-freedom bearingless synchronous reluctance motor of the present invention is to adopt following steps: 1) the Hysteresis Current PWM inverter of three expansions, switch power amplifier and five degrees of freedom without bearing synchronous magnetic resistance motor are formed to composite controlled object; 2) first use 5 SVMs, 2 rank systems, 1 SVMs 1 rank system and 11 integrators
s -1structure SVMs α rank inverse system, the current tracking inverter of the first expansion is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse system output
with
for its input, switch power amplifier is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse system output
for its input, the current tracking inverter of the second expansion is controlled current component reference value with the radial displacement of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse system output
with
for its input, the current tracking inverter of the 3rd expansion is controlled current component reference value with the rotating speed of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse system output
with selected constant
for its input; Off-line training SVMs α rank inverse system again; 3) SVMs α rank inverse system is placed in to the composite controlled object common pseudo-linear system that forms before, pseudo-linear system is equivalent to 5 position Second Order Integral subsystems and 1 position First-order Integral subsystem; 4) respectively for forming linear closed-loop controller after 5 positioners of 6 described integration subsystem design and a rotational speed governor; 5) linear closed-loop controller, SVMs α rank inverse system, composite controlled object are formed to decoupling controller of five-degree-freedom bearingless synchronous reluctance motor jointly.
Beneficial effect of the present invention is:
1. the present invention is directed to this multi-input multi-output system non-linear, close coupling of five degrees of freedom without bearing synchronous magnetic resistance motor, adopt least square method supporting vector machine approach non linear system a rank inversion model, the a rank inversion model of structure composite controlled object, do not need to know the mathematical models of controlled system, overcome method of inverse and be difficult to try to achieve the contrary difficult problem of parsing.By system linearization and decoupling zero are become 6 mutually independently line integral subsystems realize the dynamic Decoupling Control of Load Torque between each controlled volume, complicated Non-linear coupling control problem is become to simple Linear Control problem, and then Control System Design is simplified and easily reached the desired performance index of system, not only realized the stable suspersion of five degrees of freedom without bearing synchronous magnetic resistance motor rotor, and make the radial suspension force of magnetic bearing, axial suspension power, between motor radial suspension force and electromagnetic torque, realize independent control, and effectively raise the control performance of whole system, obtain good quiet, dynamic characteristic.The least square method supporting vector machine method adopting is on the basis of empirical risk minimization, to have adopted empirical risk minimization simultaneously, the problems such as study, dimension disaster and Premature Convergence of crossing in the machine learning method that neural net etc. is traditional have been solved preferably, have highly application value, and control an effective way is provided for other bearing-free motor and magnetic bearing decoupling zero.
2. radial suspension force is controlled and is adopted three phase power inverter circuit, axial suspension power is controlled and is adopted switch power amplifier, make the control method of five degrees of freedom without bearing synchronous magnetic resistance motor simple, compact conformation, low in energy consumption, cost declines, the electric machine structure of having broken away from traditional magnetic bearing supporting is complicated, and critical whirling speed is low, and control system is complicated, the defects such as power amplifier cost is high, and volume is large.
3. for five rotor-position Second Order Integral linear subsystems speed First-order Integral linear subsystem of unifying, can further adopt the methods such as PID, POLE PLACEMENT USING, linear optimal quadratic form adjuster or robust servo-operated regulator to design respectively a rotational speed governor and five positioners, form linear closed-loop controller, make system obtain the runnability of high performance rotating speed, Position Control and anti-disturbance.
4. controller of the present invention has been realized independent control the between the multivariable of five degrees of freedom without bearing synchronous magnetic resistance motor, effectively having overcome bearingless synchronous reluctance motor only carries out fortran based on field orientation and cannot realize decoupling zero and control this difficult problem, overcome employing feedforward compensation controller simultaneously, approximate processing, table look-up online and the decoupling method such as real-time parameter detection can only be realized static system decoupling zero, can not realize the defect of system dynamic decoupling.
Accompanying drawing explanation
Fig. 1 is the structural representation of five degrees of freedom without bearing synchronous magnetic resistance motor 1;
Fig. 2 is the Hysteresis Current PWM inverter structure schematic diagram of expansion;
Fig. 3 is the structural representation of composite controlled object 8;
Fig. 4 is the structural representation of support vector α rank inverse system 6;
Schematic diagram and the isoboles thereof of the pseudo-linear system 9 that Fig. 5 is comprised of support vector α rank inverse system 6 and composite controlled object 8;
Fig. 6 is the decoupling zero control principle block diagram of five degrees of freedom without bearing synchronous magnetic resistance motor 1;
Fig. 7 is the general frame of decoupling controller of five-degree-freedom bearingless synchronous reluctance motor 10;
In figure: 1. five degrees of freedom without bearing synchronous magnetic resistance motor; First expansion Hysteresis Current PWM inverter; Second expansion Hysteresis Current PWM inverter; The 3rd expansion Hysteresis Current PWM inverter; 5. switch power amplifier; 6. SVMs α rank inverse system; 7. linear closed-loop controller; 8. composite controlled object; 9. SVMs α rank inverse system; 10. decoupling controller of five-degree-freedom bearingless synchronous reluctance motor; 22. the one Clark inverse transformations; 23. first Hysteresis Current PWM inverters; 31. the one Park inverse transformations; 32. the 2nd Clark inverse transformations; 33. second Hysteresis Current PWM inverters; 41. the 2nd Park inverse transformations; 42. the 3rd Clark inverse transformations; 43. the 3rd Hysteresis Current PWM inverters; 61,62,63,64,65. SVMs 2 rank systems; 66. SVMs 1 rank systems; 71,72,73,74,75. rotor-position controllers; 76. rotational speed governors.
Embodiment
As shown in Figure 1, the structure of five degrees of freedom without bearing synchronous magnetic resistance motor 1 of the present invention comprises Three Degree Of Freedom active magnetic bearings a, two degrees of freedom bearingless synchronous reluctance motor b and rotor e, and Three Degree Of Freedom active magnetic bearings a controls respectively rotor radial
x a ,
y a axially
z a displacement, corresponding Three Degree Of Freedom active magnetic bearings a is the driving control current of three-phase coil radially
i a ,
i b with
i c , axial coil drive current
i z , two degrees of freedom bearingless synchronous reluctance motor b controls radially
x b ,
y b the rotating speed of displacement and rotor
ω, radially
x b ,
y b two three-phase suspending power winding driving control current that degree of freedom displacement is corresponding
i b2
u ,
i b2
v with
i b2
w , the three-phase torque winding driving control current corresponding to rotational speed omega of rotor
i b1
u ,
i b1
v with
i b1
w , this five degrees of freedom without bearing synchronous magnetic resistance motor is the multi-input multi-output system of non-linear a, close coupling.The present invention is directed to this system adopts SVMs to approach a rank inversion model of composite controlled object, convert former multi-input multi-output system to separate line integral subsystem, and then the Theoretical Design closed loop controller of employing linear system, the multivariable not only having realized between five degrees of freedom without bearing synchronous magnetic resistance motor offset variable and speed variable is independently controlled, and effectively raises the control performance of whole system.
As shown in Figure 2, before a Clark inverse transformation 22 is serially connected with the first Hysteresis Current PWM inverter 23, by a Clark inverse transformation 22 and the first Hysteresis Current PWM inverter 23, be connected to form the Hysteresis Current PWM inverter 2 of the first expansion.The one Park inverse transformation 31, the 2nd Clark inverse transformation 32 and the second Hysteresis Current PWM inverter 33 are connected in series successively, form the Hysteresis Current PWM inverter 3 of the second expansion.The 2nd Park inverse transformation 41, the 3rd Clark inverse transformation 42 and the 3rd Hysteresis Current PWM inverter 43 are connected in series successively, form the Hysteresis Current PWM inverter 4 of the 3rd expansion.Before the Three Degree Of Freedom active magnetic bearings a that the Hysteresis Current PWM inverter 2 of the first expansion and switch power amplifier 5 are serially connected with respectively five degrees of freedom without bearing synchronous magnetic resistance motor 1.Before the Hysteresis Current PWM inverter 3,4 of second, third expansion is serially connected with respectively two degrees of freedom bearingless synchronous reluctance motor b.
As shown in Figure 3, the Hysteresis Current PWM inverter 2,3,4 of three expansions and switch power amplifier 5 form a composite controlled object 8 with five degrees of freedom without bearing synchronous magnetic resistance motor 1.
As Figure 4-Figure 6, before composite controlled object 8, be connected in series SVMs α rank inverse system 6, SVMs α rank inverse system 6 adds 11 integrators by 61,62,63,64,65 and SVMs 1 rank systems 66 of 5 SVMs, 2 rank system
s -1form.SVMs α rank inverse system 6 be serially connected in composite controlled object 8 before Linearized Decoupling become pseudo-linear system 9.Before pseudo-linear system 9, be connected in series linear closed-loop controller 7, linear closed-loop controller 7 is comprised of 71,72,73,74,75 and rotational speed governors 76 of five rotor-position controllers.Adopt lineary system theory to design respectively 71,72,73,74,75 and rotational speed governors 76 of five rotor-position controllers.
As shown in Figure 7, Hysteresis Current PWM inverter 2,3,4 and switch power amplifier 5 by linear closed-loop controller 7, SVMs α rank inverse system 6, three expansions form decoupling controller of five-degree-freedom bearingless synchronous reluctance motor 10, realize the decoupling zero of five degrees of freedom without bearing synchronous magnetic resistance motor 1 is controlled.
As shown in Fig. 1-7, the method of structure decoupling controller of five-degree-freedom bearingless synchronous reluctance motor 10 is: first by a Clark inverse transformation 22 and the first Hysteresis Current PWM inverter 23, connected to form the Hysteresis Current PWM inverter 2 of the first expansion, connected to form successively respectively the Hysteresis Current PWM inverter 3,4 of second, third expansion by first, second Park inverse transformation 31,41, second, third Clark inverse transformation 32,42 and second, third Hysteresis Current PWM inverter 33,43; Then the Hysteresis Current PWM inverter 2,3,4 of the described the first, the second and the 3rd these three expansions, switch power amplifier 5 and five degrees of freedom without bearing synchronous magnetic resistance motor 1 are formed to composite controlled object 8; And then adopt 61,62,63,64,65,1 SVMs 1 rank systems 66 of 5 SVMs, 2 rank system and 11 integrators
s -1construct the SVMs α rank inverse system 6 of composite controlled object 8, and make SVMs α rank inverse system 6 realize the inverse system function of composite controlled object 8 by off-line training; Then before SVMs α rank inverse system 6 being placed in to composite controlled object 8, SVMs α rank inverse system 6 forms pseudo-linear system 9 with composite controlled object 8, and pseudo-linear system 9 is equivalent to the linear subsystem of 5 position second order integro somatotypes and the linear subsystem of 1 position First-order Integral type; On this basis, respectively for 71,72,73,74,75 and rotational speed governors 76 of 5 positioners of 6 integration subsystem design; And form linear closed-loop controller 7 by 71,72,73,74,75 and rotational speed governors 76 of above-mentioned 5 positioners; Finally by linear closed-loop controller 7, SVMs α rank inverse system 6, the common formation decoupling controller of five-degree-freedom bearingless synchronous reluctance motor 10 of composite controlled object 8.
The current tracking inverter 2 of the first expansion is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse system 6 outputs
with
for its input, through the control electric current of Clark inverse transformation 22 output first Hysteresis Current PWM inverters 23
,
with
, then through the three phase control electric currents of the first current tracking inverter 23 output Three Degree Of Freedom active magnetic bearings a
,
with
, switch power amplifier 5 is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse system 6 outputs
for its input, the output of switch power amplifier 5
axial control electric current as Three Degree Of Freedom active magnetic bearings a.The current tracking inverter 3 of the second expansion is controlled current component reference value with the radial displacement of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse system 6 outputs
with
for its input, through Park inverse transformation 31 output the 2nd Clark inverse transformation 32 input current reference values
with
, the control electric current of the 2nd Clark inverse transformation 32 output the second Hysteresis Current PWM inverters 33
,
with
, then through the three-phase suspending power winding driving control current of the second Hysteresis Current PWM inverter 33 output two degrees of freedom bearingless synchronous reluctance motor b
i b2
u ,
i b2
v with
i b2
w .The current tracking inverter 4 of the 3rd expansion is controlled current component reference value with the rotating speed of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse system 6 outputs
with selected constant
for its input, second through Park inverse transformation 41 output the 3rd Clark inverse transformation 42 input current reference values
with
, the control electric current of the 3rd Clark inverse transformation 42 output the 3rd Hysteresis Current PWM inverters 43
,
with
, then through the three-phase torque winding driving control current of the 3rd Hysteresis Current PWM inverter 43 output two degrees of freedom bearingless synchronous reluctance motor b
i b1
u ,
i b1V
with
i b1
w .Three Hysteresis Current PWM inverters 2,3,4 of this expansion are as a part of composite controlled object 8.
As shown in Figure 4, the building method of SVMs α rank inverse system 6 is: the Mathematical Modeling of model composite controlled object 8: from bearingless synchronous reluctance motor and magnetic bearing operation principle, set up the Mathematical Modeling of five degrees of freedom without bearing synchronous magnetic resistance motor 1, through coordinate transform and linear amplification, obtain the Mathematical Modeling of composite controlled object 8, be the 11 rank differential equations under synchronous rotating frame, calculate its vector and rank be relatively
, known this 11 rank differential equation is reversible, and α rank inverse system exists, and adopts 61,62,63,64,65 and SVMs 1 rank systems 66 of 5 SVMs, 2 rank system to add 11 integrators
s -1construct the SVMs α rank inverse system 6 of composite controlled object 8, by the desired output of composite controlled object 8
α order derivative
as the input of SVMs α rank inverse system 6, and SVMs α rank inverse system 6 is output as
.
SVMs α rank inverse system 6 to above-mentioned structure is trained, and training method is: in real work region, by 6 above-mentioned current component reference values
,
,
,
,
With
Random square-wave signal puts on respectively the input of composite controlled object 8 as step excitation signal,And to this input signal
And output response
Carry out high-speed sampling, obtain primary data sample
u 1,
u 2,
u 3,
u 4,
u 5,
u 6,
y 1,
y 2,
y 3,
y 4,
y 5,
y 6; Adopt high-order numerical differentiation method off-line calculation
y All-order derivative
,
,
,
,
,
,
,
,
,
,
,
;Obtain 300 groups of SVMs α rank inverse systems 6 training sample set
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
u 1,
u 2,
u 3,
u 4,
u 5,
u 6; According to this training sample set, adopt least square method respectively 6 of composite controlled object 8 corresponding each SVMs 2 rank systems 61,62,63,64,65 of output quantity and SVMs 1 rank system 66 to be carried out to off-line learning, thereby obtain corresponding input vector coefficient
And threshold value
, subscript wherein
jRepresent the of composite controlled object 8
jThe variable that individual output is corresponding, subscript
iRepresent the
iTo training sample; And then respectively according to the current input of each SVMs 2 rank systems 61,62,63,64,65 and SVMs 1 rank system 66
Picking out α rank inversion model is output as
, in formula
For gaussian kernel function.
Before SVMs α rank inverse system 6 is serially connected in to composite controlled object 8, form pseudo-linear system 9, pseudo-linear system 9 is equivalent to 5 second-order linearity integration subsystems and 1 first-order linear integration subsystem, and linearized the and decoupling zero of system becomes 6 line integral subsystems independently mutually.5 second-order linearity integration subsystems and 1 first-order linear integration subsystem are designed respectively to the linear closed loop controller 7 of 71,72,73,74,75 and rotational speed governors of five positioners, 76 structure.Linear closed-loop controller 7 can adopt various conventional controller design method in lineary system theory to design as methods such as POLE PLACEMENT USING, linear optimal control, PID control, robust controls.Wherein linear-quadratic-optimal-controller not only can overcome measurement noise, and can process Nonlinear perturbations, it is a kind of important tool of reponse system design, in the embodiment providing in the present invention, 71,72,73,74,75 and rotational speed governors 76 of five positioners are all selected linear-quadratic optimal control CONTROLLER DESIGN, and the parameter of controller need be adjusted according to working control object.By the Hysteresis Current PWM inverter 2,3,4 of linear closed-loop controller 7, SVMs α rank inverse system, three expansions and the common five degrees of freedom without bearing synchronous magnetic resistance motor SVMs decoupling controller 10 that forms of switch power amplifier 5.
According to the above, according to different control, require to adopt different hardware and softwares just can realize the present invention.The other changes and modifications that those skilled in the art is made in the case of without departing from the spirit and scope of protection of the present invention, within being still included in protection range of the present invention.
Claims (2)
1. the building method of a decoupling controller of five-degree-freedom bearingless synchronous reluctance motor, adopt decoupling controller of five-degree-freedom bearingless synchronous reluctance motor, described five degrees of freedom without bearing synchronous magnetic resistance motor (1) comprises Three Degree Of Freedom active magnetic bearings a, two degrees of freedom bearingless synchronous reluctance motor b and rotor e, described decoupling controller of five-degree-freedom bearingless synchronous reluctance motor is comprised of the linear closed-loop controller (7) before pseudo-linear system (9) and serial connection, described pseudo-linear system (9) is comprised of the SVMs α rank inverse systems (6) before composite controlled object (8) and serial connection, described composite controlled object (8) is by the Hysteresis Current PWM inverter (2 of three expansions, 3, 4) and switch power amplifier (5) and five degrees of freedom without bearing synchronous magnetic resistance motor (1) jointly form, before the Hysteresis Current PWM inverter (2) of the first expansion and switch power amplifier (5) are connected in series respectively Three Degree Of Freedom active magnetic bearings a, second, the Hysteresis Current PWM inverter (3 of the 3rd expansion, 4) before being connected in series respectively two degrees of freedom bearingless synchronous reluctance motor b, described SVMs α rank inverse systems (6) add 11 integrators by 5 SVMs, 2 rank systems (61,62,63,64,65) and a SVMs 1 rank system (66) and form, described linear closed-loop controller (7) is comprised of five rotor-position controllers (71,72,73,74,75) and a rotational speed governor (76), it is characterized in that adopting following steps:
1) the Hysteresis Current PWM inverter (2,3,4) of three expansions, switch power amplifier (5) and five degrees of freedom without bearing synchronous magnetic resistance motor (1) are formed to composite controlled object (8);
2) first use 5 SVMs, 2 rank systems (61,62,63,64,65), 1 SVMs 1 rank system (66) and 11 integrators
s -1structure SVMs α rank inverse systems (6), the Hysteresis Current PWM inverter (2) of the first expansion is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse systems (6) output
with
for its input, switch power amplifier (5) is with the control current component reference value of the Three Degree Of Freedom active magnetic bearings a of SVMs α rank inverse systems (6) output
for its input, the Hysteresis Current PWM inverter (3) of the second expansion is controlled current component reference value with the radial displacement of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse systems (6) output
with
for its input, the Hysteresis Current PWM inverter (4) of the 3rd expansion is controlled current component reference value with the rotating speed of the two degrees of freedom bearingless synchronous reluctance motor b of SVMs α rank inverse systems (6) output
with selected constant
for its input; Off-line training SVMs α rank inverse system (6) again;
3) SVMs α rank inverse systems (6) are placed in to composite controlled object (8) and jointly form before pseudo-linear system (9), pseudo-linear system (9) is equivalent to 5 position Second Order Integral subsystems and 1 position First-order Integral subsystem;
4) respectively for forming linear closed-loop controller (7) after 5 positioners of 6 described integration subsystem design (71,72,73,74,75) and a rotational speed governor (76);
5) linear closed-loop controller (7), SVMs α rank inverse systems (6), composite controlled object (8) are formed to decoupling controller of five-degree-freedom bearingless synchronous reluctance motor (10) jointly.
2. building method according to claim 1, is characterized in that: step 2) training method of described SVMs α rank inverse systems (6) is: first in real work region by 6 described current component reference values
,
,
,
,
With
Random square-wave signal puts on respectively the input of composite controlled object (8) as step excitation signal, and the signal to its input
And output response
Sampling,
x a ,
y a The rotor radial displacement that Three Degree Of Freedom active magnetic bearings a controls,
z a The rotor axial displacement that Three Degree Of Freedom active magnetic bearings a controls,
x b ,
y b The rotor radial displacement that two degrees of freedom bearingless synchronous reluctance motor b controls,
ωThe rotor speed that two degrees of freedom bearingless synchronous reluctance motor b controls, obtain primary data sample
u 1,
u 2,
u 3,
u 4,
u 5,
u 6,
y 1,
y 2,
y 3,
y 4,
y 5,
y 6; Adopt again high-order numerical differentiation method off-line calculation
y All-order derivative
,
,
,
,
,
,
,
,
,
,
,
; Obtain 300 groups of SVMs α rank inverse systems (6) training sample set
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
,
u 1,
u 2,
u 3,
u 4,
u 5,
u 6; Then adopt least square method respectively corresponding each the SVMs 2 rank system (61,62,63,64,65) of 6 output quantities of composite controlled object (8) and SVMs 1 rank system (66) to be carried out to off-line learning, obtain corresponding input vector coefficient
And threshold value
; Subscript wherein
jIt is composite controlled object (8)
jThe variable that individual output is corresponding, subscript
i?
iTo training sample; Finally, respectively according to the current input of each SVMs 2 rank systems (61,62,63,64,65) and SVMs 1 rank system (66)
Picking out α rank inversion model is output as
, in formula
For gaussian kernel function.
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