【作者】 张浩；

【导师】 朱熀秋；

【作者基本信息】 江苏大学 ， 电气工程， 2022， 硕士

【摘要】 2035远景目标提出我国要由制造大国迈入制造强国行列,在这一转变过程中,数控机床作为工业制造领域内的关键设备承担着重要作用。传统数控机床中的电主轴通过机械轴承支撑,其转速和加工精度都受到了限制,为了进一步提高电主轴的加工性能,利用磁悬浮轴承支撑的磁悬浮电主轴得到了广泛研究。磁悬浮轴承包括直流磁轴承和交流磁轴承,直流磁轴承因体积较大且成本较高限制了它的应用前景,而交流磁轴承只需要一块逆变器进行驱动,其成本和体积相比直流磁轴承都有所减小。为了提高交流磁轴承悬浮力和控制电流之间的线性关系并且改善其径向两个自由度之间的耦合,本文在国家自然基金项目支持下对交流六极径向混合磁轴承(Hybrid Magnetic Bearing,HMB)展开了研究,围绕其数学模型、参数优化、解耦控制和数字控制系统等内容展开了研究。论文主要工作及成果如下:1、针对磁轴承的研究背景和意义进行了阐述,并从国外和国内两个方面介绍了磁轴承的研究现状;针对磁轴承系统,依次介绍了其结构及工作原理、分类及特点、应用领域;针对磁轴承的控制方法,详细介绍了滑模控制、自适应控制以及自抗扰控制在磁轴承系统中的应用。2、利用等效磁路法对六极径向HMB的工作原理和数学模型进行了阐述,并依据其转子运动学方程观察出其径向两自由度存在耦合的问题。为了进一步提升六极径向HMB整体性能,以悬浮力、涡流损耗和体积作为优化目标,提出了一种引入杂交概念的多目标粒子群(Multi Objective Particle Swarm Optimization,MOPSO)算法进行多目标参数优化的方法。首先根据灵敏度分析确定高灵敏度参数和低灵敏度参数,对低灵敏度参数直接利用有限元分析软件进行最优值的选择,而高灵敏度参数最优值则通过改进的MOPSO进行分析获取;最后依据最优参数建立的六极径向HMB有限元模型进行仿真研究验证了优化结果的可行性。3、为了进一步提升自抗扰控制(Auto Disturbance Rejection Control,ADRC)对六极径向HMB的解耦效果,提出利用最小二乘支持向量机(Least Squares Support Vector Machine,LSSVM)的回归预测功能根据扩张状态观测器(Extended State Observer,ESO)的输出去预测一部分扰动,再与ESO本身观测到的扰动相加作为系统的总扰动进行补偿,实现ADRC-LSSVM解耦控制器;最后进行了相关仿真研究,验证了ADRC-LSSVM相比于普通ADRC能够实现对扰动进行快速跟踪,在ADRC-LSSVM控制器控制下的六极径向HMB的起浮、负载以及抗干扰性能都得到了进一步提升。4、详细介绍了磁轴承数字控制系统的设计,最后构建了磁轴承控制系统实验平台,并进行了悬浮力-电流特性的检测以及转子起浮实验和负载实验,实验结果证明了在ADRC-LSSVM的控制作用下,六极径向HMB具备快速响应的能力,并且抗干扰能力也得到了一定提升。更多还原

【Abstract】 Long-range objectives through the year 2035 puts forward that it is necessary to transform our country of quantity to one of quality.In this transformation process,numerical control machine tool as the key equipment in the field of industrial manufacturing plays an important role.In order to further improve the machining performance of motorized spindle,motorized spindle supported by magnetic bearing(MB)has been widely studied.MB include DC MB and AC MB,for the large volume and high cost,the application of traditional DC MB is limited.Compared with the DC MB,the AC MB only need one inverter to drive so that the cost and volume are reduced.Aiming at reducing improving the linear relationship between suspension force and control current of ac magnetic bearing and weakening the strong coupling between two degrees of freedom in the radial direction,the research on the six-pole radial hybrid magnetic bearing(HMB)is studied in this dissertation which is supported by National Natural Science Foundation of China.The main work and achievements of the dissertation are as follows:1.The research background and significance of MB are described,and the research status is also introduced from foreign and domestic.For the magnetic bearing system,the structure,working principle,classification,characteristics and application fields are introduced successively.For the control method of MB,the application of sliding-mole control,adaptive control and active disturbance rejection control in magnetic bearing system are introduced in detail.2.The working principle and mathematical model of six-pole radial HMB are described by using the equivalent magnetic circuit method,and the coupling problem between two degrees of freedom of the six-pole radial HMB is mentioned according to the rotor kinematics equation.In order to further improve the overall performance of the six-pole radial HMB,a parameter optimization method based on the improved Multi-objective Particle Swarm Optimization(MOPSO)algorithm is proposed with suspension force,eddy current loss and volume as the optimization objectives.Firstly,high sensitivity parameters and low sensitivity parameters is determined according to sensitivity analysis,and the optimal value of low sensitivity parameters is directly selected by finite element analysis software,while the optimal value of high sensitivity parameters is obtained by improved MOPSO analysis.Finally,the finite element model established according to the optimal parameters is simulated to verify the feasibility of the optimization results.3.For further improving the decoupling effect when using the Auto Disturbance Rejection Control(ADRC)to control the six-pole radial HMB,the regression prediction function of the least square support vector machine(LSSVM)is proposed to predict some disturbances according to the output of the extended state observer(ESO).Then add the disturbances observed by ESO and the disturbances predicted by LSSVM as the total disturbances of the system to compensating,so as to realize the ADRC-LSSVM decoupling controller.Finally,relevant simulation research is carried out to verify that the ADRC-LSSVM can realize fast tracking of disturbance which compared with the ordinary ADRC,and the responsiveness and anti-interference performance are further improved.4.The design of six-pole radial HMB digital control system is introduced from hardware and software and the experimental platform is constructed in this dissertation.According to the experimental platform,the characteristics of suspension force and control current are tested and the results prove that the six-pole radial HMB has the good linear relationship between suspension force and control current.Besides,the floatation experiment and load experiment are also carried out,and the experimental results show that under the control of ADRC-LSSVM,the six-pole radial HMB has the ability of fast response,and the anti-interference ability has also been improved.更多还原