CN103034126A - Controlling system and controlling method of axial off-center magnetic bearing of outer rotor of constant current source - Google Patents
Controlling system and controlling method of axial off-center magnetic bearing of outer rotor of constant current source Download PDFInfo
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- CN103034126A CN103034126A CN2012105650844A CN201210565084A CN103034126A CN 103034126 A CN103034126 A CN 103034126A CN 2012105650844 A CN2012105650844 A CN 2012105650844A CN 201210565084 A CN201210565084 A CN 201210565084A CN 103034126 A CN103034126 A CN 103034126A
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Abstract
The invention discloses a controlling system and a controlling method of an axial off-center magnetic bearing of an outer rotor of a constant current source. The controlling system is a closed-loop system formed by a variable universe fuzzy controller, a force/current converting module, a power amplifier module, a prototype body and a displacement detection module, wherein the variable universe fuzzy controller, the force/current converting module, the power amplifier module, the prototype body and the displacement detection module are sequentially connected. The variable universe fuzzy controller is composed of a fuzzy controller and a telescopic factor fuzzy controller, wherein the fuzzy controller and the telescopic factor fuzzy controller are connected in parallel, and the fuzzy controller comprises a proportion integration differentiation (PID) fractional order controller based on online adjustment of fuzzy setting rules. Deviation e obtained by comparison of a displacement output signal and a given reference location signal and ec which is the change rate of e are both used as input variables of the fuzzy controller and the telescopic factor fuzzy controller. The telescopic factor fuzzy controller converts the input variables into fuzzy quantities through fuzzy calculation, and carries out Fuzzy inference calculation of the output quantities according to the telescopic factor rule and outputs the telescopic factor and feedbacks the telescopic factor to the fuzzy controller. The controlling system and the controlling method of the axial off-center magnetic bearing of the outer rotor of the constant current source have strong restraining capability for nonlinearity, and ensure system stability better.
Description
Technical field
The invention belongs to the control technology field, be specifically related to control system and the control method design thereof of a kind of on-mechanical contact magnetic suspension bearing (magnetic bearing).
Background technology
Magnetic bearing be utilize magnetic field force with rotor suspension in the space, make itself and stator not have a kind of novel block bearing of Mechanical Contact, have without friction, without wearing and tearing, need not lubricated and sealing, the advantage such as high-speed, high precision and life-span are long.Magnetic bearing system mainly is comprised of magnetic bearing mechanical construction and control system two parts, wherein physical construction affects the serviceability of whole magnetic bearing system, its corresponding control system and control method thereof have determined dynamic property and rigidity, damping and the stability of magnetic bearing system, so the magnetic bearing mechanical construction and control system is restricting the work ruuning situation that can a complete magnetic bearing system realize the best.
Constant-current source bias outer roller axial magnetic bearing physical construction can be 201210247525.6 referring to number of patent application, name is called the magnetic bearing in " a kind of constant-current source bias outer roller axial magnetic bearing ", this magnetic bearing take the cost that reduces magnetic bearing, reduce magnetic bearing power consumption as target, but this magnetic bearing only relates to physical construction, does not relate to its corresponding control system and control method thereof.Because the suspending power that magnetic bearing produces has serious non-linear characteristics, be to need the key issue that solves to the stable control of its suspending power, the nonlinear Control problem that for this reason solves suspending power is particularly important.
Controller is the core component in the control system, directly affect the quality of whole control system performance, and the control method of whole control system also embodies a concentrated reflection of the core algorithm in controller.At present, the PID controllers that adopt are controlled magnetic bearing more, but the PID controller too relies on the model parameter of control object, robustness is relatively poor, need accurate control system for this class complexity of constant-current source bias outer roller axial magnetic bearing and the utmost point, adopt merely the PID controller to be difficult to satisfy the requirement of the accurate control of system.Come from the PID controller, but be different from the Fractional Order PID Controller (PI of conventional PID controllers
λ D
μ Controller) be popularization and the development of the integer rank PID controller of routine, described more accurate than integer model with the dynamic system of fractional order mathematics model description.Because Fractional Order PID Controller has been introduced the derivative order ordered coefficients
λWith integration order coefficient
μ, many two adjustable parameters are so that the setting range of controller parameter becomes is large.
In recent years, the research of fuzzy control method and application are more and more, utilize the fuzzy controller of fuzzy logic exploitation itself just to have intelligent inference function and nonlinear characteristic, especially based on the PID controller under the online adjustment of fuzzy tuning rule, uncertain factor is brought adverse effect can be fine to overcome in the magnetic bearing system that model parameter changes and non-linear etc., can obtain more excellent control effect.But owing to adjust many two adjustable parameters in the lower PID controller based on fuzzy tuning rule is online, so can cause the increase of fuzzy rules, and then strengthened the complicacy of control system, precision and the real-time of control system are affected.
Summary of the invention
The objective of the invention is provides a kind of change domain fuzzy score rank PID control system for constant-current source bias outer roller axial magnetic bearing for overcoming existing several magnetic bearing control systems commonly used and the deficiency of nonlinear control method, has better robustness, anti-interference, adaptability and better control accuracy.The present invention also provides the control method of this control system simultaneously, can obtain satisfied control accuracy, reduces fuzzy rules, and the realization parameter is adjusted online, obtains good control effect.
For achieving the above object, the technical scheme that the control system of constant-current source bias outer roller axial magnetic bearing of the present invention adopts is: this control system is by becoming Universe Fuzzy Controller, power/current transformation module, power amplifier module, the closed-loop system that constant-current source bias outer roller axial magnetic bearing model machine body and displacement detection module connect and compose successively, the change Universe Fuzzy Controller is in parallel by fuzzy controller and contraction-expansion factor fuzzy controller and forms, fuzzy controller comprises that displacement detection module is connected to form successively by eddy current displacement sensor and displacement interface circuit based on the PID fractional order control device under the online adjustment of fuzzy tuning rule; The axial location of model machine body detects with displacement transducer, and detected displacement signal is processed the output displacement output signal by the displacement interface circuit
z, output signal of displacement
zCompare with given reference position signal z* and to obtain deviation
eAnd rate of change
e c , with deviation
eAnd rate of change
e c All be input to the change Universe Fuzzy Controller, become Universe Fuzzy Controller power output signal
F z * after power/current transformation module conversion, become the control current reference signal, output control current drives model machine body behind the control current reference signal power input amplification module.
The technical scheme that the control method of the control system of constant-current source bias outer roller axial magnetic bearing of the present invention adopts is to comprise the steps:
(1) in becoming Universe Fuzzy Controller, deviation
eAnd rate of change
e c All as the input variable of fuzzy controller and contraction-expansion factor fuzzy controller; The contraction-expansion factor fuzzy controller calculates by obfuscation input variable first and changes into fuzzy quantity, again the output quantity of obfuscation is carried out fuzzy reasoning according to the contraction-expansion factor rule and calculates, and calculates output bias by defuzzification at last
eContraction-expansion factor
a 1(
t), deviation variation rate
e c Contraction-expansion factor a
2(
t), output quantity
F Z * contraction-expansion factor
β(
t) accurate amount, and will accurately measure and feed back to fuzzy controller;
(2) fuzzy controller calculates by obfuscation described input variable and changes into fuzzy quantity, the input quantity that the Fractional Order PID Controller under the output quantity of Fuzzy processing is adjusted online as fuzzy tuning rule is processed, in real time resize ratio coefficient
K p , integral coefficient
K i , differential coefficient
K d , the derivative order ordered coefficients
λAnd integration order coefficient
μSize, the output quantity of PID fractional order control device is through fuzzy reasoning and ambiguity solution power output signal
F z *.
The present invention's beneficial effect compared with prior art is:
1, because Fractional Order PID Controller Duo 2 adjustings degree of freedom λ and μ than integer rank PID controller, so that the fractional order control device changes insensitive to image parameter, to non-linear very strong inhibition ability arranged, therefore when the magnetic bearing model parameter changes, can guarantee better system stability.
2, fractional calculus is more flexible than the design of traditional controller, and the change of differential and integration order is more prone to change the frequency domain response characteristic of system than the coefficient of change ratio, integration and differentiation, so can design better robust control system.
3, because the Fractional Order PID controller function that do not have on-line tuning parameter the same as conventional PID controller, therefore can not satisfy under different operating modes system to the requirement of certainly adjusting of parameter, thereby affect the further raising of its control effect.Fuzzy control and PID are controlled both combine, both had the flexible and adaptable advantage of fuzzy control, have again the high characteristics of Fractional Order PID control accuracy, and so that the PID controller adapts to the variation of controlled device, obtain better control performance.
The thought that 4, will become domain is fused in the PID controller of fuzzy score rank, regulates in real time domain by non-linear contraction-expansion factor, can significantly reduce the quantity of initial rules, effectively improves control accuracy at desired control point.Therefore utilize to blur to become domain design adaptive fuzzy controller, use simple domain to divide and to reach high-precision control effect, just can remedy two numerous and diverse shortcomings of fuzzy rule that parameter causes of the many increases of fuzzy score rank PID controller.Under the constant prerequisite of fuzzy rule form, can adjust online domain and controller output according to error, its domain diminishes along with error and shrinks, and perhaps increases along with error and expands, thereby reach the purpose that improves control accuracy.
Description of drawings
Fig. 1 is the control system the general frame of constant-current source bias outer roller axial magnetic bearing of the present invention;
Among the figure:
Aa. become Universe Fuzzy Controller;
a. fuzzy controller;
a1. obfuscation;
a2. blur tuning rule;
a3.PID fractional order control device;
a4. fuzzy reasoning; A. contraction-expansion factor fuzzy controller; A1. obfuscation; A2. blur tuning rule; A3. fuzzy reasoning; A4. ambiguity solution;
b. power/current transformation module;
c. power amplifier module;
d. the model machine body; E. displacement detection module;
e1. displacement transducer;
e2. displacement interface circuit;
8. switch power amplifier; 9. constant current source.
Embodiment
Such as Fig. 1, the control system of constant-current source bias outer roller axial magnetic bearing of the present invention is by becoming Universe Fuzzy Controller A
a, power/current transformation module
b, power amplifier module
c, the model machine body
d(being constant-current source bias outer roller axial magnetic bearing) and displacement detection module
fConnect and compose successively a closed-loop system.Become Universe Fuzzy Controller A
aBy fuzzy controller
aWith the contraction-expansion factor fuzzy controller A composition that is in parallel.Fuzzy controller
aComprise based on fuzzy tuning rule
aPID fractional order control device under 2 online the adjustment
a3.Power amplifier module
cJointly formed by switch power amplifier 8 and constant current source 9.Displacement detection module
fBy eddy current displacement sensor
f1 and the displacement interface circuit
f2 connect to form successively.Become Universe Fuzzy Controller A
aOutput signal is through power/current transformation module
bBecome the control current reference signal after the conversion, control current reference signal power input amplification module
cRear output control electric current drives the model machine body
D.The model machine body
dThe axial location of (being constant-current source bias outer roller axial magnetic bearing) adopts displacement transducer
f1 detects, and detected displacement signal is by the displacement interface circuit
f2 process, the output signal of displacement after the output modulation
z, output signal of displacement
zCompare the deviation that obtains with given reference position signal z*
eAnd rate of change
e c Be input to and become Universe Fuzzy Controller A
a
Becoming Universe Fuzzy Controller A
aIn, deviation
eAnd rate of change
e c All as fuzzy controller
aInput variable with contraction-expansion factor fuzzy controller A.
Contraction-expansion factor fuzzy controller A at first calculates by obfuscation A1 input variable and changes into fuzzy quantity.The concrete steps of obfuscation A1 are: the domain that at first defines input/output variable, then establish " negative large (NB) ", " in negative (NM) ", " negative little (NS) ", " zero (ZO) ", " just little (PS) ", " center (PM) ", " honest (PB) " these 7 linguistic variables are corresponding linguistic variable, i.e. obfuscation is finished.Then the output quantity of obfuscation A1 is carried out fuzzy reasoning according to contraction-expansion factor rule A2 and calculate A3.Wherein, the formation rule of contraction-expansion factor rule A2 is: at fuzzy controller
aFuzzy tuning rule
a 2Form under (shape) constant prerequisite, domain diminishes according to deviation and shrinks, and also can increase according to deviation simultaneously to expand, and then can form contraction factor rule A2.If define initial domain for [E, E], can be according to contraction-expansion factor rule A2 with the compute mode of initial domain by linear transformation, shrink or the value that enlarges its domain can form variable domain.For example: definition α (
e) be deviation variables
eContinuous function,
, deviation then
eVariable domain can form, namely by " stretching " factor-alpha (
x) be transformed to [α (
x) E, α (
x) E].The online generation of this rule can reduce the requirement to controller initial rules quantity, just remedies in the controller because extra two adjustable parameters that adopt Fractional Order PID to produce
λWith
μThe regular complicacy that causes.Therefore, the control effect of the fuzzy controller of variable domain of the present invention is greatly improved, whole algorithm is comparatively simple and direct, and real-time is better, and precision is high.
When
eWith
e c When larger, this moment, control system of the present invention mainly was to reduce fast error, and the quickening dynamic response is target.Therefore, should get larger controlled quentity controlled variable in order to reduce rapidly
eWith
e c , therefore the input domain of this moment should be got larger domain, namely inputs the more initial domain of domain and should be " expansion type ", then exports domain and substantially can remain unchanged; When
eWith
e c Hour, this moment, control system of the present invention was in steady state (SS) gradually, and main target be further to reduce deviation, realizes that the floating of system is moved.Therefore, the output domain of this moment should be got larger domain, namely exports the more initial domain of domain and should be " expansion type ", inputs simultaneously domain and should get less domain, namely inputs the more initial domain of domain and should be " contraction type ".In fuzzy reasoning A3 calculates, become Universe Fuzzy Controller A
aIn two fuzzy controllers all comprise 49 control laws.Contraction-expansion factor rule A2 according to formulating in conjunction with fuzzy experience and the expertise of traditional magnetic bearing control system, lists contraction-expansion factor
a 1(
t),
a 2(
t),
β(
t) fuzzy control rule table, can obtain contraction-expansion factor
a 1(
t) (deviation
eContraction-expansion factor),
a 2(
t) (deviation variation rate
e c Contraction-expansion factor),
β(
t) (output quantity
F Z * fuzzy quantity contraction-expansion factor) is calculated it at last by defuzzification A4, export three contraction-expansion factors
a 1(
t), a
2(
t),
β(
t) accurate amount, and will accurately measure and feed back to fuzzy controller
a a 1(
t),
a 2(
t) to two input quantities of fuzzy controller
eWith
e c Domain regulate in real time,
β(
t) to the output quantity of fuzzy controller
F Z * domain is regulated in real time.Wherein, ambiguity solution A4 is a process from the fuzzy set to the ordinary set, and its effect is that the known fuzzy set that will be obtained by fuzzy reasoning converts the corresponding accurate amount that can be directly used in control to by suitable method and exports.The present invention adopts gravity model appoach to carry out ambiguity solution according to the working control object, its convenience of calculation, and have higher precision.
Fuzzy controller
aAlso at first to input variable by obfuscation
a1 calculating changes into fuzzy quantity, fuzzy controller
aIn obfuscation
a1 is identical with obfuscation A1 among the contraction-expansion factor fuzzy controller A.Fuzzy controller
aTwo input quantities remove
eWith
e c Outside
,The contraction-expansion factor of contraction-expansion factor fuzzy controller A1 output is also as fuzzy controller
aInput.Through obfuscation
a1 output quantity of processing is as the fuzzy tuning rule based on real-time adjustment
aFractional Order PID Controller under 2 online the adjustment
a3 input quantities of processing, in real time resize ratio coefficient
K p , integral coefficient
K i , differential coefficient
K d , the derivative order ordered coefficients
λ, integration order coefficient
μSize, PID fractional order control device then
a3 output quantity is through fuzzy reasoning
a4 and ambiguity solution
a5 power output signals
F z *, force signal
F z * be to become Universe Fuzzy Controller
AaOutput.Fuzzy reasoning
a4 and ambiguity solution
aThe method of fuzzy reasoning A3 and ambiguity solution A4 is identical among 5 method and the contraction-expansion factor fuzzy controller A.
Based on fuzzy tuning rule
aPID fractional order control device under 2 online the adjustment
a3 should consider from aspects such as Systems balanth, response speed, overshoot and lasting accuracies, and its method of adjusting the control parameter is: at fuzzy tuning rule
aFractional Order PID Controller under 2
aIn 3, with
K p , K i , K d , λ, μThese five PID parameter values are worked as deviation as controlled quentity controlled variable
eWhen larger, choose controlled quentity controlled variable take quick elimination deviation as main, have preferably fast tracking performance to guarantee system, avoid simultaneously occurring larger overshoot.Work as deviation
eHour, choose controlled quentity controlled variable and will prevent overshoot, take system stability as main starting point, will prevent that simultaneously vibrating appears in locking system near setting value.According to knowledge of engineering technology and practical operation experience, can set up rational fuzzy rule.On this basis, except fuzzy controller
aTwo input quantities
eWith
e c Outside
,Three contraction-expansion factors of contraction-expansion factor fuzzy controller A1 output
a 1(
t), a
2(
t),
β(
t) also as fuzzy controller
aInput, regulate in real time domain by the nonlinear shrinkage factor, become domain mould fuzzy controller A
aCan significantly reduce the quantity of initial rules, effectively improve control accuracy at desired control point.Then make the value that fuzzy reasoning changes the PID parameter online according to the fuzzy control rule of reduction, adjust in real time
K p ,
K i ,
K d ,
λ,
μSize, thereby realize certainly adjusting of PID parameter, thereby obtain becoming Universe Fuzzy Controller A
aThe power output signal
F z *.Wherein, PID fractional order control device
aFractional order differential in 3 and integration adopt the Oustaloup algorithm, are separated into the exponent number of approximate model in frequency band, then according to fuzzy reasoning process and discrete model equation, finish fuzzy fractional order control device
a3 Digital Implementation.
Become at last Universe Fuzzy Controller A
aThe power output signal
F z *, again through exertin/current transformation module
bOutput control current reference signal
i z *.Then driving constant-current source bias outer roller axial magnetic bearing through switch power amplifier 8 output control current i z (is the model machine body
D)Axial control coil, constant current source 9 provides bias current for the constant-current source bias coil
i z0
, realize the closed-loop control of constant-current source bias outer roller axial magnetic bearing.
In order to obtain satisfied control accuracy, reduce fuzzy rules, the realization parameter is adjusted online, obtain good control effect, the present invention is by adopting an additional controller, and namely the contraction-expansion factor controller comes jointly to consist of one with traditional fuzzy controller and becomes Universe Fuzzy Controller.The contraction-expansion factor controller can the system ambiguous controller of real time altering domain, remedied the deficiency that fuzzy controller of traditional independent employing can not be adjusted parameter online.Becoming the domain fuzzy control is to utilize expertise and knowledge to set up fuzzy control rule, use fuzzy reasoning, the domain of system ambiguous controller is adjusted in real time, the domain that makes system ambiguous controller all is best in each control procedure, reduce to a great extent the dependence to expertise and knowledge, improved adaptive ability and the robustness of fuzzy system.
The present invention Fractional Order PID Controller (PI
λD
μController) replaces conventional integer rank PID controller, in conjunction with the advantage that becomes the control of domain fuzzy control and Fractional Order PID Controller, can be so that constant-current source bias outer roller axial magnetic bearing system be realized the stable control of its suspending power, have better Static and dynamic stability, strengthened the adaptive ability of system and to external world interference have stronger robustness.
The above just can realize the present invention.Other changes and modifications to those skilled in the art makes in the case of without departing from the spirit and scope of protection of the present invention still are included within the protection domain of the present invention.
Claims (4)
1. the control system of a constant-current source bias outer roller axial magnetic bearing is characterized in that: this control system is by becoming Universe Fuzzy Controller (A
a), the closed-loop system that connects and composes successively of power/current transformation module, power amplifier module, constant-current source bias outer roller axial magnetic bearing model machine body and displacement detection module, become Universe Fuzzy Controller (A
a) by fuzzy controller (
a) and contraction-expansion factor fuzzy controller (A) composition that is in parallel, fuzzy controller (
a) comprise based on fuzzy tuning rule is online under adjusting PID fractional order control device (
a3), displacement detection module is connected to form successively by eddy current displacement sensor and displacement interface circuit; The axial location of model machine body detects with displacement transducer, and detected displacement signal is processed the output displacement output signal by the displacement interface circuit
z, output signal of displacement
zCompare with given reference position signal z* and to obtain deviation
eAnd rate of change
e c , with deviation
eAnd rate of change
e c All be input to and become Universe Fuzzy Controller (A
a), become Universe Fuzzy Controller (A
a) the power output signal
F z * after power/current transformation module conversion, become the control current reference signal, output control current drives model machine body behind the control current reference signal power input amplification module.
2. the control method of control system as claimed in claim 1 is characterized in that comprising the steps:
(1) becoming Universe Fuzzy Controller (A
a) in, deviation
eAnd rate of change
e c All as fuzzy controller (
a) and the input variable of contraction-expansion factor fuzzy controller (A); Contraction-expansion factor fuzzy controller (A) calculates by obfuscation input variable first and changes into fuzzy quantity, again the output quantity of obfuscation is carried out fuzzy reasoning according to contraction-expansion factor rule (A2) and calculates, and calculates output bias by defuzzification at last
eContraction-expansion factor
a 1(
t), deviation variation rate
e c Contraction-expansion factor a
2(
t), output quantity
F Z * contraction-expansion factor
β(
t) accurate amount, and will accurately measure feed back to fuzzy controller (
a);
(2) fuzzy controller (
a) described input variable calculated by obfuscation change into fuzzy quantity, through the output quantity of Fuzzy processing as fuzzy tuning rule (
a2) Fractional Order PID Controller under online the adjustment (
a3) input quantity of processing, in real time resize ratio coefficient
K p , integral coefficient
K i , differential coefficient
K d , the derivative order ordered coefficients
λAnd integration order coefficient
μSize, PID fractional order control device (
a3) output quantity is through fuzzy reasoning and ambiguity solution power output signal
F z *.
3. control method according to claim 2, it is characterized in that: the concrete steps of described obfuscation are: the domain that defines first input/output variable, establish again linguistic variable, at last the output quantity of obfuscation is carried out fuzzy reasoning according to contraction-expansion factor rule (A2) and calculate.
4. control method according to claim 2 is characterized in that: the formation rule of contraction-expansion factor rule (A2) is: fuzzy controller (
a) fuzzy tuning rule (
a2) form under the constant prerequisite, domain diminishes according to deviation and shrinks, and increases according to deviation and expands; Work as deviation
eAnd rate of change
e c Be worth when larger, the input domain is got larger domain, and the output domain remains unchanged; Work as deviation
eAnd rate of change
e c Value hour, the output domain is got larger domain, the input domain is got less domain.
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| CN2012105650844A CN103034126A (en) | 2012-12-24 | 2012-12-24 | Controlling system and controlling method of axial off-center magnetic bearing of outer rotor of constant current source |
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ID=48021113
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