【摘要】 在线调整比例-积分-微分(PID)控制器参数对于优化主动磁轴承(AMB)系统的运行性能具有决定性作用。然而，现有参数设计方法常常忽略控制器响应周期和轴承线圈电感效应引入的控制时滞，导致基于闭环传递函数计算的PID参数无法确保系统稳定性。为此，本文研究了表征控制时滞的AMB系统运行特性，并基于PID算法构建了考虑控制时滞的AMB系统控制参数计算模型。进一步，建立了计及控制时滞的AMB系统数值模型，并搭建了AMB刚性转子系统实验平台，实验和仿真研究了主动磁轴承在不同转子频率和PID参数下的运行性能。同时，分析了控制时滞下PID参数与系统性能之间的映射关系，据此提出一种基于转子频率的自适应PID参数整定策略，实验测试结果表明所提控制策略能够实现转子以较小的振动在全转速区稳定运行。更多还原

【Abstract】 Online tuning of PID controller parameters is critical for optimizing the operational performance of active magnetic bearing(AMB) systems. However, existing parameter design methods often ignore the control delay introduced by the controller response period and the inductive effect of the bearing coil, resulting in PID parameters calculated on the basis of the closed-loop transfer function failing to ensure system stability. Therefore, this paper investigates the operating characteristics of the AMB system that characterize the control delay. The control parameter calculation model of the AMB system considering the control delay is constructed based on the PID algorithm. Furthermore, a numerical model of the AMB system considering the control delay is established. And the experimental platform of the AMB rigid rotor system is built. The operating performance of the active magnetic bearing under different rotor frequencies and PID parameters is investigated experimentally and simulated. Meanwhile, the mapping relationship between PID parameters and system performance under control delay is analyzed. Accordingly, an adaptive PID parameter tuning strategy based on rotor frequency is proposed. The experimental test results show that the proposed control strategy is able to achieve stable operation of the rotor in the full speed range with less vibration.更多还原