CN112886894B - Improved model-free control system and control method of radial hexapole active magnetic bearing - Google Patents
Improved model-free control system and control method of radial hexapole active magnetic bearing Download PDFInfo
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Abstract
The invention discloses an improved model-free control system and a control method of a radial hexapole active magnetic bearing, wherein the output end of the radial hexapole active magnetic bearing is respectively connected with a first improved generic model, a second improved generic model and a radial direction displacement sensor, the output ends of the first improved generic model and the second improved generic model are both connected with the input end of the radial direction displacement sensor, the output end of the radial direction displacement sensor is connected with an upper computer operation module, the first improved generic model and the second improved generic model calculate the generic model displacement, the first improved modeless controller and the second improved modeless controller simultaneously calculate the radial suspension force, the improved modeless controller utilizes the current data and uses the historical data of the system, thereby not only improving the identification convergence, but also improving the accuracy of the modeless control rate and the data accuracy, and adding new parameters into the improved generic model, the influence of bad data acquired by the system on the output result of the controller is overcome, and the output precision of the generic model is improved.
Description
Technical Field
The invention belongs to the field of high-speed and ultrahigh-speed electrical transmission, relates to a control technology of a magnetic suspension bearing, in particular to a control system of an active magnetic bearing, and is suitable for the fields of aerospace, vacuum technology, mechanical industry, energy traffic and the like.
Background
The magnetic suspension bearing (called magnetic bearing) is a novel high-performance bearing which utilizes current in a coil or a permanent magnet to generate electromagnetic force to enable a rotor to suspend in space and realize that no mechanical contact exists between the rotor and a stator. At present, the magnetic bearing is mostly controlled by adopting a PID controller, but the PID controller excessively depends on the model parameters of a controlled object, the robustness is poor, and the requirement of system precision control is difficult to meet. For a more complex control system, it is difficult to implement modeling of a complex model in advance. At present, a common solution for processing and controlling a nonlinear system is to linearize the nonlinear system and change the nonlinear system control problem into the linear system control problem. Linearization methods such as taylor expansion linearization can change non-linearization into linearization, but have other influences on the control process, and changing the non-linearity into linearity can result in time-varying linear parts and high-order neglected terms.
The basic idea of model-free control is to convert a general discretization time nonlinear system into a dynamic linearization method, and perform online iterative identification by only using input and output data of a controlled object and combining control input of the system, so as to realize integrated identification and control of the structure and parameters of the control system. The axial active magnetic bearing is controlled by a model-free control method in a document No. model control of the axial active magnetic bearing published in 36 nd volume 2 of 2017 by a measurement and control technology, and simulation and experimental results show that the control method has better control effect than a PID (proportion integration differentiation) controller, but historical data of a magnetic bearing system is not used, and the identification convergence rate are poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an improved model-free control system of a radial six-pole active magnetic bearing and a control method thereof, which fully utilize the historical data of the magnetic bearing system and improve the accuracy of a model-free controller and the identification convergence and convergence speed.
The invention relates to an improved model-free control system of a radial six-pole active magnetic bearing, which adopts the technical scheme that: the device comprises a radial force current transformation module, a Clark inverse transformation module and a voltage source inverter which are sequentially connected in series, wherein the output end of the voltage source inverter is connected with the input end of a radial six-pole active magnetic bearing, the radial six-pole active magnetic bearing outputs radial displacement x (t) and y (t) of a rotor in x and y directions at the moment t, the output end of the radial six-pole active magnetic bearing is respectively connected with a first improved generic model, the radial displacement x (t) and y (t) are first and second input quantities of the radial direction displacement sensor, the radial displacement x (t) is a first input quantity of the first improved generic model, the radial displacement y (t) is a first input quantity of the second improved generic model, the first improved generic model outputs the displacement X (t) of the generic model at the time t in the x direction, and the second improved generic model outputs the displacement Y (t) of the generic model at the time t in the y direction. The output ends of the first improved generic model and the second improved generic model are connected to the input end of a radial direction displacement sensor, generic model displacement X (t), Y (t) are the third and fourth input quantities of the radial direction displacement sensor, the output end of the radial direction displacement sensor is connected with an upper computer operation module, the output of the upper computer operation module is x, y-direction detection displacement x '(t), y' (t), detection displacement x '(t), y' (t) and x, y-direction reference displacement signal x '(t), the output of the upper computer operation module is x, y-direction reference displacement signal x' (t), the output of the detection displacement x '(t), y' (t) and x, y-direction reference displacement signal x, y-direction reference displacement signal and y-direction reference displacement signal x, y-direction reference displacement signal output, y-direction reference displacement signal and y-direction reference displacement signal output*、y*Correspondingly, the displacement deviation value delta u (t), delta u '(t) is obtained through comparison, the displacement deviation value delta u (t) is the second input quantity of the first improved general model, and the displacement deviation value delta u' (t) is the second input quantity of the second improved general model.
The invention relates to a control method of an improved model-free control system of a radial six-pole active magnetic bearing, which adopts the technical scheme that: the method comprises the following steps:
step A: inputting the radial displacement x (t), y (t) into the corresponding first improved generic model and the first improved generic model, and calculating generic model displacement X (t), Y (t) by the first improved generic model and the second improved generic model;
and B: the radial direction displacement sensor receives radial displacement x (t), y (t) and the general model displacement X (t), Y (t) output by the first general improved model and the first general improved model, and the upper computer operation module calculates detection displacement x '(t), y' (t);
and C: the first improved model-free controller and the second improved model-free controller simultaneously utilize the stored radial suspension force F at the t-1 momentx(t-1)，Fy(t-1) calculating to obtain the moment radial suspension force
Wherein, the intermediate amount
P is more than 0 and less than or equal to 1, is a positive random number less than or equal to 1, rho is more than or equal to 0.1 and less than or equal to 2 and represents a step sequence, lambda is more than or equal to 0.1 and less than or equal to 2 and represents a weight factor, eta is more than or equal to 0.1 and less than or equal to 1 and represents a step sequence, and mu is more than or equal to 0.1 and less than or equal to 1 and represents a weight factor.
In the step A, the first improved generic model and the second improved generic model adopt a formula
Calculating the general model displacement X (t), Y (t); p < 0.ltoreq.1 is a positive random number of 1 or less, η ≦ 0.1 denotes a step sequence, μ ≦ 0.1 is a weight factor, Δ u (t-1) is a displacement deviation in the x direction at time t-1, and Δ u' (t-1) is a displacement deviation in the y direction at time t-1.
In step B, the detection displacement x '(t) is 0.5 × [ x (t) + x (t)) ], and y' (t) is 0.5 × [ y (t) + y (t)) ].
The invention has the advantages that:
1. compared with a standard model-free controller, the improved model-free controller provided by the invention utilizes the current data and the historical data of the system, so that the identification convergence can be improved, and the accuracy of the model-free control rate and the data accuracy are improved.
2. The invention improves the standard pan-model, adds new parameters compared with the standard pan-model, can overcome the influence of bad data acquired by the system on the output result of the controller, and improves the output precision of the pan-model.
3. The improved model-free controller replaces a PID (proportion integration differentiation) controller to realize the suspension and the anti-interference of the radial hexapole active magnetic bearing, so that the radial hexapole active magnetic bearing has better robustness, anti-interference performance and control precision.
Drawings
FIG. 1 is a schematic radial configuration of a radial six-pole active magnetic bearing;
FIG. 2 is a block diagram of the control architecture of an improved model-free control system for a radial six-pole active magnetic bearing of the present invention;
in the figure, 1, a radial hexapole active magnetic bearing; 11. a rotor; 12. a radial control coil; 13. a radial stator;
2. a radial direction displacement sensor; 21. an upper computer operation module; 3. a first improved modeless controller; 4. a second improved modeless controller; 5. a radial force current transformation module; a Clark inverse transformation module; 7. a voltage source inverter; 8. a first refined generic model; 9 second modified generic model.
Detailed Description
As shown in fig. 1, the radial six-stage active magnetic bearing 1 includes a rotor 11, radial control coils 12 and radial stators 13, wherein the center of the rotor 11 is placed at the geometric center of the radial stators 13, six magnetic poles are uniformly distributed on each radial stator 13 along the circumferential direction, and the magnetic poles on the stator sheets are aligned along the axial direction. The radial control coils 12 are respectively wound on the magnetic poles and divided into A, B, C three groups, each group of four coils are connected in series and connected in a star-shaped manner, and three-phase radial control current i is supplied to the coilsa、ib、ic。
As shown in fig. 2, the improved model-free control system of a radial six-pole active magnetic bearing according to the present invention is connected to a radial six-pole active magnetic bearing 1, and is a closed-loop control system. The improved model-free control system comprises a radial force current transformation module 5, a Clark inverse transformation 6 and a voltage source inverter 7 which are sequentially connected in series, wherein the output end of the voltage source inverter 7 is connected with the input end of the radial six-pole active magnetic bearing 1. The output end of the radial hexapole active magnetic bearing 1 is respectively connected with a first improved generic model 8, a second improved generic model 9 and a radial direction displacement sensor 2.
The radial six-pole active magnetic bearing 1 outputs radial displacement x (t), y (t), x (t), y (t) of the rotor in x and y directions at the time t, the radial displacement x (t), y (t) serve as first and second input quantities of the radial direction displacement sensor 2, meanwhile, the radial displacement x (t) in the x direction serves as a first input quantity of a first improved generic model 8, and the radial displacement y (t) in the y direction serves as a first input quantity of a second improved generic model 9. The first improved generic model 8 outputs a signal of x-direction t-time generic model displacement X (t), and the second improved generic model 9 outputs a signal of y-direction t-time generic model displacement Y (t). The output ends of the first improved generic model 8 and the second improved generic model 9 are both connected to the input end of the radial direction displacement sensor 2, and the generic model displacement x (t), y (t) signals are used as the third and fourth input quantities of the radial direction displacement sensor 2. The output end of the radial direction displacement sensor 2 is connected with the upper computer operation module 21, the radial direction displacement sensor 2 outputs the detected four displacements x (t), y (t), x (t), y (t) and t) to the upper computer operation module 21, and the signals of the detected displacements x '(t) and y' (t) in the x and y directions are output after the upper computer operation module 21 operates.
The detection displacement x '(t) and y' (t) in the x and y directions and the reference displacement signal x in the x and y directions are compared*、y*The corresponding displacement deviation values Δ u (t), Δ u' (t) are obtained by corresponding comparison. The displacement deviation value Δ u (t) in the x direction is used as a second input quantity of the first improved generic model 8, and the displacement deviation value Δ u' (t) in the y direction is used as a second input quantity of the second improved generic model 9. Wherein the deviation Δ u (t) of the displacement in the x-direction is simultaneously used as an input variable for a first improved model-free controller 3, which is a first improved model-free controlThe output of the device 3 is the radial suspension force F in the x directionx(t) of (d). The displacement deviation value delta u' (t) in the y direction is used as an input variable of a second improved model-free controller 4, and the output of the second improved model-free controller 4 is radial suspension force F in the y directiony(t) of (d). The output ends of the first improved model-free controller 3 and the second improved model-free controller 4 are connected with the radial force current conversion module 5 and are converted into radial control reference current through the radial force current conversion module 5
Radial control of reference current ix *，iy *Converted into three-phase current expected values through a Clark inverse conversion module 6
Voltage source inverter 7 tracking three-phase current desired value
Outputting a radial control current i of the radial hexapole active magnetic bearing 1a、ib、icThereby controlling the radial six-pole active magnetic bearing 1. The Clark inverse transformation module 6, the voltage source inverter 7 and the radial six-pole active magnetic bearing 1 can jointly form a composite controlled object.
The radial hexapole and hexapole active magnetic bearing 1 outputs radial displacement x (t) of a rotor in x and y directions at t moment, y (t) to a corresponding first improved general model 8 and a corresponding first improved general model 9, the first improved general model 8 calculates and obtains general model displacement X (t) by using a stored displacement deviation delta u (t-1) in the x direction at t-1 moment and a received radial displacement x (t), and meanwhile, the second improved general model 9 calculates and obtains general model displacement Y (t) by using a stored displacement deviation delta u' (t-1) in the y direction at t-1 moment and a received radial displacement y (t), and the calculation formula is as follows:
in the formula, p is more than 0 and less than or equal to 1, which represents a positive random number less than or equal to 1, eta is more than or equal to 0.1 and less than or equal to 1, which represents a step sequence, and mu is more than or equal to 0.1 and less than or equal to 1, which is a weight factor.
The standard generic model calculation formula is:
it can be seen from formulas (5) and (6) that the improved generic model of the present invention adds a new parameter p, where p is a positive random number less than or equal to 1, which increases randomness, cancels the influence of bad data in a certain range, and improves the output accuracy of the generic model.
Meanwhile, the radial direction displacement sensor 2 receives the radial displacements x (t), y (t) of the rotor in the x, y directions at the moment t, which is output by the radial hexapole active magnetic bearing 1, and the general model displacements x (t), y (t), which are output by the first improved general model 8 and the first improved general model 9, and are transmitted to the upper computer operation module 21, and the upper computer operation module 21 calculates to obtain the detection displacements x '(t), y' (t), and the calculation formula is as follows:
x′(t)＝0.5×[X(t)+x(t)] (3)
y′(t)＝0.5×[Y(t)+y(t)] (4)
the upper computer operation module 21 outputs the detected displacements x '(t), y' (t), x '(t), y' (t) and a given reference displacement x*、y*And performing subtraction operation to obtain rotor displacement deviations delta u (t), delta u '(t), and rotor displacement deviations delta u (t), delta u' (t) which are respectively transmitted to the first improved model-free controller 3 and the second improved model-free controller 4. The first improved modeless controller 3 and the second improved modeless controller 4 simultaneously use the stored radial levitation force F at time t-1x(t-1)，Fy(t-1) calculating to obtain moment radial suspension force Fx(t)，Fy(t), the calculation process is as follows:
first, obtain the intermediate quantity
And
then, the rotor displacement deviations Δ u (t), Δ u' (t), intermediate quantities are used
And the stored radial suspension force F at the t-1 momentx(t-1)，Fy(t-1) calculating the radial suspension force F at the moment t by the following formulax(t)，Fy(t)。：
Wherein p is more than 0 and less than or equal to 1 to represent a positive random number less than or equal to 1, eta is more than or equal to 0.1 and less than or equal to 1, and rho is more than or equal to 0.1 and less than or equal to 2 to represent a step sequence; mu is more than or equal to 0.1 and less than or equal to 1, and lambda is more than or equal to 0.1 and less than or equal to 2 as weight factors.
The first modified modeless controller 3 and the second modified modeless controller 4 apply a radial levitation force Fx(t)，Fy(t) is transmitted to a radial force current conversion module 5 and is converted into a radial control reference current i through the radial force current conversion module 5x *，iy *. Then the three-phase current is converted into a three-phase current expected value through a Clark inverse conversion module 6
The radial control current i of the radial six-pole active magnetic bearing 1 is output by the voltage source inverter 7a、ib、icThereby, the rotor displacement is adjusted, and the real-time control of the radial six-pole active magnetic bearing 1 is realized.
Claims (6)
1. An improved model-free control system of a radial six-pole active magnetic bearing comprises a radial force current transformation module (5), a Clark inverse transformation module (6) and a voltage source inverter (7) which are sequentially connected in series, wherein the voltage source inverterThe output end of the changer (7) is connected with the input end of a radial hexapole active magnetic bearing, and the radial hexapole active magnetic bearing outputs radial displacement x (t) of a rotor in x and y directions at time t, y (t), and is characterized in that: the output end of the radial hexapole active magnetic bearing is respectively connected with a first improved extensive model (8), a second improved extensive model (9) and a radial direction displacement sensor (2), radial displacement x (t), y (t) is first and second input quantities of the radial direction displacement sensor (2), radial displacement x (t) is first input quantity of the first improved extensive model (8), radial displacement y (t) is first input quantity of the second improved extensive model (9), the first improved extensive model (8) outputs displacement X (t) of the extensive model at the x direction t moment, the second improved extensive model (9) outputs displacement Y (t) of the extensive model at the y direction t moment, the output ends of the first improved extensive model (8) and the second improved extensive model (9) are connected with the input end of the radial direction displacement sensor (2), the general model displacement X (t), Y (t) are the third and fourth input quantity of the radial direction displacement sensor (2), the output end of the radial direction displacement sensor (2) is connected with an upper computer operation module (21), the upper computer operation module (21) outputs the detection displacement x '(t), y' (t) in the x and y directions, and the detection displacement x '(t), y' (t) and the reference displacement signal x in the x and y directions*、y*Correspondingly, the displacement deviation value delta u (t), delta u '(t) is obtained through comparison, the displacement deviation value delta u (t) is the second input quantity of the first improved general model (8), and the displacement deviation value delta u' (t) is the second input quantity of the second improved general model (9).
2. The improved model-free control system for a radial six-pole active magnetic bearing of claim 1, wherein: the output ends of the first improved model-free controller (3) and the second improved model-free controller (4) are connected with the radial force current conversion module (5).
3. A control method of an improved model-free control system as claimed in claim 1, comprising the steps of:
step A: inputting the radial displacement x (t), y (t) into a corresponding first improved general model (8) and a corresponding first improved general model (9), and calculating general model displacement X (t), Y (t) by the first improved general model (8) and the second improved general model (9);
and B: the radial direction displacement sensor (2) receives radial displacements x (t), y (t) and the general model displacements X (t), Y (t) output by the first improved general model (8) and the first improved general model (9), and the upper computer operation module (21) calculates detection displacements x '(t), y' (t);
and C: the first improved model-free controller (3) and the second improved model-free controller (4) simultaneously utilize the stored radial suspension force F at the t-1 momentx(t-1)，Fy(t-1) calculating to obtain radial suspension force at t moment
Wherein, the intermediate amount
Is a positive random number of 1 or less, rho is more than or equal to 0.1 and less than or equal to 2 to represent a step sequence, lambda is more than or equal to 0.1 and less than or equal to 2 to represent a weight factor, eta is more than or equal to 0.1 and less than or equal to 1 to represent the step sequence, and mu is more than or equal to 0.1 and less than or equal to 1 to represent the weight factor.
4. The control method of the improved model-free control system as claimed in claim 3, wherein: in the step A, the first improved extensive model (8) and the second improved extensive model (9) adopt formulas
Calculating the general model displacement X (t), Y (t); p < 0.ltoreq.1 is a positive random number of 1 or less, η ≦ 0.1 denotes a step sequence, μ ≦ 0.1 is a weight factor, Δ u (t-1) is a displacement deviation in the x direction at time t-1, and Δ u' (t-1) is a displacement deviation in the y direction at time t-1.
5. The control method of the improved model-free control system as claimed in claim 3, wherein: in step B, the detection displacement x '(t) is 0.5 × [ x (t) + x (t)) ], and y' (t) is 0.5 × [ y (t) + y (t)) ].
6. The control method of the improved model-free control system as claimed in claim 3, wherein: in step C, the first improved model-free controller (3) and the second improved model-free controller (4) apply a radial levitation force Fx(t)，Fy(t) is transmitted to a radial force current conversion module (5) and converted into a radial control reference current i through the radial force current conversion module (5)x *，iy *Then the three-phase current is converted into a three-phase current expected value through a Clark inverse conversion module (6)
The radial control current i is output by a voltage source inverter (7)a、ib、ic。
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