Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

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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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

tng cp c cu in t ca AMB cng c p dng rng ri. Gii php ny n gin trong thit k v ch to, tuy nhin n vp phi mt hn ch ln. Khi tc quay tng cao, h thng b ph v s n nh do tc ng ng k ca nh hng hi chuyn [11]. Bi bo ny tp trung ch yu vo nh gi s c mt ca hiu ng hi chuyn trong ng lc hc h thng AMB 2 DOF. Ngoi ra, mt lut iu khin hu hiu c xut loi b yu t ghp knh trong h thng c xt, ng thi bi bo cng p dng mt phng php iu khin tp trung cho h MIMO nhm cung cp cht lng lm vic ng tt cho tng knh ring bit v ton h thng. Khi ta xem xt chuyn ng quay hnh nn quanh trc z (ch c hiu lc vi cc gc b trong chuyn ng quay khng gian ba chiu), x v y ln lt l cc v tr gc ca gc nghing trc k so vi trc z khi chiu ln cc trc x v y. Ji v Jk ln lt l momen qun tnh quanh trc quay i v k. Momen qun tnh trn trc j bng vi momen qun tnh trn trc i do cu trc i xng ca trc rotor. Nu b qua un cong ca trc, ta c cc phng trnh vi phn m t s cn bng momen ca chuyn ng nh sau [1], [4]:

J i qx J i qy

wrm J k q y wrm J k qx

Nx Ny

(4)

2. M hnh ha h thng AMB

2.1 Cc phng trnh in t Mi quan h gia lc in t vi dng in v chuyn dch v tr c biu din di dng tuyn tnh ha khi khng k n nh hng ca t ha ca vt liu st t nh sau [1, 2, 3]: (1) F( x, i) Ki ix Ks x mx Vi K

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

(b) (a) H.1(a):H s lc in t-dng in, Ki (b): H s lc in t- chuyn dch, Ks

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

J k wrm : ma trn hi chuyn 0

2 K x lrt

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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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Vi: q

y
T

x : vector chuyn dch ca rotor

iy

ix : vector dng in iu khin cho AMB

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

Php biu din MHTT ca h thng AMB 2 DOF l: 02 2 I2 2 X AX+BU ;A ; 1 M K M 1G Y CX DU (10) 02 2 B ;C I 2 2 02 2 ; D 02 2 M 1B f

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

thng phn hi kn mong mun. Ta chia ra thnh m nhm nh, lij , j 1, 2, , si i vi mi i;

1, 2,
si

, m v to nn:

fi ( s)

( s lij ) , i

1, 2,

,m .

i 1

i vi mi mt gi tr i, ta biu din fi ( s) nh sau:

xc yc

BR xc +BMr Mr

fi (s)
(15)

ssi

gi1ssi

gi 2 ssi
1

gisi ,
2

Rxc

trong r, yc ln lt l u vo v u ra ca b b. c1 c2 cm v si , i 1, 2, , m l Ta t CT vector bc ti thiu ca (11) thng qua [5, 8]:

v nh ngha: fi ( A) Asi gi1 Asi

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

Ngoi ra, ta nh ngha:

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)

Chng minh: xem chi tit ti [5].

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 4. Tnh ton v m phng

Bng 1: Cc thng s m phng ca AMB 2 DOF[9]: Trng lng rotor (kg) m = 12.4 Khong cch gia gc c nh v tm lrt = h = 0.21 khi rotor ca AMB (m) Momen qun tnh trn trc k (kg.m2) Jk = 6.88x10-3 Momen qun tnh trn trc i v j JI = Jj = (kg.m2) 2.22x10-1 Tc ca rotor (RPM) 10.000 T s lc in t-dng in (N/A) Ki = 102.325 T s lc in t-chuyn v (N/m) Ks = -4.65x105 2 Gia tc trng trng (kg.m/s ) g=9.81 Ta d dng nhn thy h h l mt n nh khi tp gi tr ring ca ma trn h thng A thu c nh sau: -2.58e-017+3.71e-002i

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

H.4a: 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

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;

Cc h s M, R c gi tr nh sau: 0.049353 0 M 0 0.049353

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)

b30 s 2 -b31s - b32 2332

K

b30 = 20.26;b31= 3.559 10 -14 ; b32

-7.6117 0.09989

-147.39 -108.5 Tp gi tr ring ca ma trn h thng A thu c: eig ( Asys )

-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:

H.3: nh hng xen knh ln nhau ti tn hiu ra khi tn hiu vo ln lt c cho: u1 = 0; u2 0 v u1 0; u2 = 0

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

H.6, cc im cc dng cho phng php p t c la chn theo thc nghim. p -20-1.95i;-20+1.95i;-20,-21,-22,-23 H thng t c n nh ha trong khong thi gian ngn ( lch theo phng x v y nhanh chng gim v zero) khong 0.4s. i lng iu khin u vo, ix, y(t) cng tin n zero trong khong thi gian ngn, khong 0.2s. Tuy nhin, cc im cc c chn ny li khin cho h phi tiu tn nhiu nng lng cho i lng iu khin u vo lm cho h n nh ha nhanh (xem H.6). Trong khi , ti H.7 v H.8, bng cch p dng tiu chun ITAE loi I xc nh cc im cc cho a thc c tnh bc 6 [6]: 2 3 4 d ( s) s 6 3.25wn s5 6.6wn s 4 8.6wn s3 7.45wn s 2
5 6 3.95wn s wn Thi gian h thng t c n nh ha di hn ng k (gp khong 3 ln). Tuy vy, nng lng iu khin u vo li gim i rt nhiu (xem H.8).

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

Ti liu tham kho

[1] Akira Chiba, Tadashi Fukao, Osamu Ichikawa, Masahide Oshima, Masatsugu Takemoto and David G. Dorrell, Magnetic Bearings and Bearingless Drives. Newnes, 2005 [2] Gerhard Schweitzer and Eric H. Maslen, Magnetic Bearings: Theory, Design, and Application to Rotating Machinery. Springer-Verlag, 2009 [3] Botjan Polajer (Edited), Magnetic Bearings, Theory and Applications, Sciyo, 2010. [4] John Vance, Fouad Zeidan and Brian Murphy, Machinery Vibration and Rotordynamics, John Wiley & Sons, 2010. [5] Qing-Guo Wang, Decoupling Control, SpringerVerlag, 2003 [6] P. Albertos and A. Sala, Multivariable Control Systems, Springer-Verlag, 2004 [7] Abdul R. Husain, Mohamad N. Ahmad and Abdul H. M. Yatim, Deterministic models of a Active Magnetic Bearing System, Journal of Computers, Vol. 2, No. 8, October 2007 [8] Nguyn Don Phc, Nguyn Hin Trung, Thit k b quan st ti u c thi gian hu hn v ng dng vo iu khin tch knh h tuyn tnh bng phn hi u ra theo nguyn l tch, Tp ch Khoa hc & Cng ngh cc trng i hc K thut, S 77, 2010 [9] Tian Ye, Sun Yanhua, Yu Lie, LQG Control of Hybrid Foil-Magnetic Bearing, 12th International Symposium on Magnetic Bearings, August, 2010 [10] Marcio S. de Queiroz and Darren M. Dawson, Nonlinear control of Active Magnetic Bearing: A backstepping approach, IEEE Transactions on Control Systems Technology, Vol. 4, No. 5, March 1996 [11] Kasadar, M.E.F An overview of active magnetic bearing technology and applications, The Shock and Vibration Digest, Vol.32(2), pp.91 99, 2000

H.5: p ng u ra ca h thng iu khin vng kn (Cc im cc c chn trc)

H.6: Dng in iu khin u vo ca h thng vng kn (Cc im cc c chn trc)

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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