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iu khin tch knh ng cho vng bi t ch ng 2 bc t do bng phng php phn hi trng thi Dynamic decoupling control for 2 degree of freedom active magnetic bearing using state feedback method
Trn Lc Quna, Trn Xun Minhb v Nguyn Th Thanh Bnhc Trng H K thut Cng nghip Thi nguyna, b i hc Thi nguync a e-mail: tranlucquan@tnut.edu.vn, btranxuanminh@dhktcn.edu.vn c binhntt@dhktcn.edu.vn, Tm tt
Bi bo ny trnh by mt phng php thit k b iu khin cho vng bi t ch ng c hai bc t do (AMB 2 DOF). Cc phng trnh vi phn m t h thng ny c xy dng da trn cc nh lut v c in t. nh hng hi chuyn (gyroscopic effects) ca vng bi t ch ng hai bc t do gy ra cc tc ng xen knh iu khin, khin cho cht lng lm vic ca h b suy gim nht l khi rotor quay tc cao. Gii php iu khin tp trung c p dng iu khin h thng thng qua phng php phn hi trng thi. Gi thit l cc bin trng thi ca h u o c. Mt lut iu khin c xut trong nghin cu ny nhm trit tiu nh hng xen knh k trn. Ngoi ra bi bo cng p dng phng php p t im cc cho h thng nhiu u vo nhiu u ra (MIMO) nhm t c s n nh ha cho tng knh v cho ton b h thng. Abstract: This article represents a method to design controller for 2 degree of freedom, active magnetic bearings. Based on mechanical electrical magnetic principles, differential equations modelling this system are deduced. Gyroscopic effects contributing to rotordynamic instability through cross-coupling issue affect to performaces of system, especially at high speeds of rotor. A state feedback control structure is utilized to control this system with the assumption that all state variables are measurable. In this research, a proposed control law is used to eliminate the above mentioned cross-coupling effect. Moreover, the pole placement method is applied to MIMO system in order to achieve stabilization for separated controlling chanels and the whole system as well. lrt; h Ji, Jj, Jk x, y rm Nx, Ny Ki Ks ga si AMB DOF MIMO MHTT m kg.m2 rad rad/s N.m m/s2 chiu di; chiu cao t gc trc n tm rotor momen qun tnh trn cc trc i, j, k. gc nghing trc k so vi trc z c chiu ln cc trc x v y vn tc gc rotor momen xung quanh trc x, y h s lc in t-dng in h s lc in t- chuyn dch gia tc trng trng bc ti thiu ca m hnh
Ch vit tt
Vng bi t tch cc Bc t do nhiu u vo nhiu u ra M hnh khng gian trng thi
1. Phn m u
H thng vng bi t ch ng (AMB) thay th cho vng bi c s dng trong ng c in lm vic trong cc mi trng c bit (sch, nhit qu cao hoc qu thp,). Do s dng cc lc t h tr cho chuyn ng ca trc quay m khng cn c tip xc c hc nn cng ngh vng bi t mi ny to ra mt s cc u im ni bt so vi cc loi vng bi c thng thng. Tuy vy, y l h thng mt n nh c hu nn cn thit phi c mt vng iu khin phn hi n nh ha h thng. Thit k b iu khin v cng vic trng tm trong thit k h thng AMB do b iu khin c th thay i cc thuc tnh tt dn v cng ca vng bi t [1, 2]. Tuy nhin, trong rt nhiu ng dng, cht lng lm vic ca b iu khin li ph thuc rt ln vo nh hng xen knh ca h thng. nh hng ny ch yu do yu t hi chuyn gy nn khi vt chuyn ng quay tc cao. Nu b qua yu t ny, cht lng lm vic ca ton h s khng c tt nh mong mun. c nhiu cc nghin cu ng dng cc phng thc iu khin hin i nhng b qua nh hng hi chuyn khi m hnh ha h thng AMB[10, 11]. Phng php iu khin phi tp trung dng iu khin PD, PID cho
K hiu
K hiu n v A, B, C, D Mf, G, D, Bf M, R F(x,i) N G(s), H(s) q ngha cc ma trn ca h thng cc ma trn h s cc ma trn iu khin lc in t hm truyn t vector chuyn dch ca AMB
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J i qx J i qy
wrm J k q y wrm J k qx
Nx Ny
(4)
1 m0 N 2 Aa ; Ki 4
2K
i0 ; Ks 2 s0
2K
2 i0 3 s0
vi m0 = 4.10-7 Vs/Am, l thm t ca mi trng chn khng; N l s vng dy; Aa l tit din mt ct trong khe h khng kh; i0 v g0: l dng in v khe h danh nh; m l trng lng ca rotor.
Thnh phn th nht v phi ca hai phng trnh trn l cc momen sinh ra do hiu ng hi chuyn (gyroscopic effects). Cc thnh phn ny c nh hng ln khi AMBs lm vic ti tc quay cao. Gi thit cc gc x v y l nh nn ta c: lrt lrt qy ; qx (5) x y Tng cc i lng momen thnh phn xung quanh hai trc trc x v y s l: mga h N x N xg N xi N xd y Fy lrt K s ylrt (6a) lrt
mg a h x Fx lrt K s xlrt (6b) lrt Trong , Nxg v Nyg; Nxi v Nyi; Nxd v Nyd ln lt l cc thnh phn momen do trng lng m, dng in i v chuyn dch tng ng ln cc trc x v y. Thay (6a, b) vo (4) ta thu c cc phng trnh ng lc hc cho h thng AMB rotor trc cng 2 DOF khi c k n nh hng hi chuyn nh sau: Ny N yg N yi N yd
Ji y Ji x wrm J k x wrm J k y mg a h mg a h
2 K x lrt y 2 K x lrt x 2 lrt Fy 2 lrt Fx
(7)
2.2 Cc phng trnh ng lc hc Mt h thng AMB 2 DOF c dng kho st v nh gi cc thnh phn lc v momen xut hin trong h thng. Hnh 2 m t mt trc rotor quay ti tc gc rm xung quanh trc k. H quy chiu tnh gm ba trc vung gc x, y v z. H quy chiu quay gm ba trc vung gc i, j v k. u cui ca trc rotor c gn c nh ti v tr gc ca cc trc ta . Trc rotor ca b AMB c dng tr cng, vi chiu di l lrt. Di ch lm vic bnh thng, trc k v trc z c gn nh thng hng (trn thc t lun c mt sai lch rt nh).
k z
k Z
Ta nhn thy rng, nh hng hi chuyn gy nn s xen knh ca cc chuyn ng trong cc mt phng xoz v yoz khi tc rotor wrm 0 2.3 Php biu din khng gian trng thi H phng trnh (7) c th c biu din di dng phng trnh vi phn nh sau: (8) q M f 1Gq M f 1 Dq M f 1 B f F Trong : M f
Ji 0 0 : ma trn qun tnh Ji
0 J k wrm
mg a h 0
rm
lrt
Nx
0 mg a h Kl
2 x rt
x
lrt
y
lrt
Ny
; Bf
2 lrt 0
0 2 lrt
i x
y x
x y
ln lt l cc ma trn cng v ma trn h s lc F. Kt hp vi (1), mi quan h vector lc in t biu din cho b AMB s l:
(b) H.2(a): Cc h ta tnh v quay ca AMB (b): Cc hnh chiu tng ng ln xoz v yoz
(a)
Fy
Fx
Ks q
Ki i
(9)
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y
T
iy
Ks
K sy 0
0 ; Ki K sx
Kiy 0
0 ; Kix
nh l 1[5]: Tn ti mt lut iu khin c dng (12) tch knh h thng (11), khi v ch khi ma trn E l kh nghch. Khi , bng cch la chn: M E 1 ; R E 1F , h thng iu khin phn hi c to ra s c ma trn hm truyn:
H ( s)
diag s
s1
,s
s2
,s
sm
Ta t: X
q q ;U
i ;Y
3. Thit k iu khin
3.1 iu khin tch knh phn hi trng thi bng phng php Falb-Wolovich Xt mt h thng MIMO tng qut m t bi MHTT: x Ax+Bu (11) y Cx vi x
Rn ; u, y
Rm ; A
Rn n ; B
Rn m ; C
Rm
c iu khin bi lut: u (12) Rx Mr y chnh l bi ton tch knh phn hi trng thi. Khi p dng lut iu khin (12), h MIMO mi s c dng nh sau:
Chng minh: xem chi tit ti [5]. Lut iu khin phn hi trng thi cho php ta p t cc im cc ti cc v tr mong mun, v m bo p ng ng ca phn hi vng kn, nhng khng cho bit v p ng gia u vo/u ra [6]. khng c sai lch tnh, ta a vo trong h thng tc ng ca thnh phn tch phn bm theo sai lch. Gi thit cc bin iu khin c l thnh phn vector u ra ca h thng, y. Vector trng thi b sung, kch thc q, c m t bng: h yr y yr Cx . Nhm q bin trng thi b sung vi n bin trng thi ca h thng ban n ta thu c mt h thng m rng c biu din nh sau [6]: x 0 A 0 x B + u y h Iq r C 0 h 0 (17) x y C 0 h 3.2 Phng php p t im cc cho h thng tch knh t vn : Cn thit phi xc nh c gi tr ca cc ma trn h s M v R sao cho h thng tch knh c cc im cc t trc. Nu ta coi:
m
x y
A Cx
BR x+BMr
(13)
v ma trn hm truyn c dng: (14) H (s) C (sI A BR) 1 BM Do vy, gii php iu khin tch knh phn hi trng thi yu cu phi tm c cc ma trn iu khin R v M H(s) c dng ma trn ng cho v kh nghch. Vic iu khin h thng (11) bng lut (12) chnh l tng ng vi vic b ni tip vo h thng (11) bng mt b b. B b ny c biu din di dng MHTT [5]:
n
i 1
si l s cc im cc cn c p t ca h
1, 2,
si
, m v to nn:
fi ( s)
( s lij ) , i
1, 2,
,m .
i 1
xc yc
BR xc +BMr Mr
fi (s)
(15)
ssi
gi1ssi
gi 2 ssi
1
gisi ,
2
Rxc
gi 2 Asi
gisi I , v
T
F*
T T c1 f1 ( A) c2 f2 ( A)
T cmfm ( A)
si
min j c A
T i
j 1
0, j 0T , j
s1 1
1, 2, 1, 2,
,n 1 ,n
c1T As1
(16)
n 1; ciT A j 1 B
T c1 As1 1 B
a1k c1T Ak
k 0
T c2 As2 1 B
F nu gij 0 i vi mi i, j. nh l 2[5]: Gi thit rng h thng (11) c th c tch knh bng phn hi trng thi. Nu M v R c la chn nh sau: M E 1; R E 1F * Th h thng iu khin phn hi c to ra s c ma trn hm truyn cho bi:
Nhn thy rng F *
;F
sm 1 T amk cm Ak k 0 T cm Asm
H (s)
diag
T cm Asm 1 B
1 1 , , f1 ( s) f2 ( s)
1 fm ( s)
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1 4.547 10 13 s2 s3 H (s) 13 4.547 10 1 s3 s2 Nhn thy H12 (s) 0; H 21 (s) 0 . Ma trn H ( s) thu c lc ny c dng ng cho, hon ton tha mn theo nh l 1.
eig ( A)
-2.58e-017-3.71e-002i 1.11e-015+3.10e+003i
1.11e-015-3.10e+003i Ngoi ra, nh hng hi chuyn th hin rt r rng s c mt khi cc h h c biu din di dng hm truyn: H11 (s); H12 (s); H 21 (s); H 22 (s) gia cc u vo
v u ra. S tn ti ca H12 (s); H 21 (s) trong h thng chnh l nh hng cho gia hai u vo v hai u ra. B1 ( s) H11 ( s) ; B1 ( s) b10 s 2 +b11s - b12 A( s)
H.4b: Cc p ng u ra ca h thng di tc ng ca phng php tch knh Falb-Wolovich khi c tn hiu vo u1 = 0 v u2 0
b10 =20.26;b11=1.8 10 -13 ;b12 = 2332 A(s)=a0 s 4 - a1s 3 +a2 s 2 +a3 s+a4 a0 =1;a1=2.169 10 -15 ;a2 =9.604 10 6 a3 =4.957 10 -10 ;a4 =1.324 10 4 B2 ( s) B2 ( s) H12 ( s) ; H 21 ( s) A( s) A( s)
B2 ( s) 6.279 10 4 s;
5.679 0 0 152.95 0 5.679 152.95 0 trit tiu sai lch tnh, ta b sung thm 2 bin trng thi. H m rng s c kch thc bng 6. Cc ma trn m rng c tnh nh (17). p dng phng php p t im cc, ta thu c ma trn h s K nh sau: R
33.824 -46.283 4.4541 -82.788 53.062 2.7785 3.5219 45.065
T
H 22 ( s)
B3 ( s) ; B3 ( s) A( s)
-7.6117 0.09989
-1.5493+6.3168i;-1.5493 - 6.3168i;-2.9025+3.9142i; -2.9025 - 3.9142i;-3.6732+1.4363i;-3.6732 -1.4363i H kn m bo s n nh khi tt c cc im cc u nm bn tri ca trc o. H thng iu khin vng kn c m phng bng phn mm Matlab. H.5 H.8 biu din p ng t do ca h vi gii php iu khin xut. Cc i lng iu khin u vo v cc i lng u ra ca h thng t c s n nh ha ng k. Trong H.5 v
p dng phng php tch knh trnh by ti mc 3.1, ta thu c ma trn hm truyn ca h nh sau:
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5. Kt lun
Da trn cc mi quan h in-t-c, cc phng trnh vi phn m t ng lc hc cho h thng AMB 2 DOF c trnh by c th trong bi bo ny. Do nh hng hi chuyn tc ng xu n cht lng lm vic ca AMB thng qua s tng tc cho c trng gia hai knh iu khin, c bit khi lm vic ti tc cao. Gii php tch knh c xut trong bi bo gii quyt tt vn ny. Ngoi ra, phng php p t im cc cho h MIMO c p dng trong nghin cu ny cho thy h thng thu c s n nh ha ng k cho tng knh iu khin v ton b h thng. Kt qu nghin cu ny s l c s tin cy phc v cho cc nghin cu tip theo v cc h thng AMB c phng chuyn ng ln hn 2, v d: 4, 5 DOF. Ngoi ra, kt qu nghin cu ny cng m ra cho cc gii php iu khin tp trung nng cao cho AMB, chng hn nh: phn hi u ra c quan st trng thi, LQG, H , tng hp
H.7: p ng u ra ca h thng iu khin vng kn (Cc im cc c chn theo tiu chun ITAE loi I)
H.8: Dng in iu khin u vo ca h thng vng kn (Cc im cc c chn theo tiu chun ITAE loi I)
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