Intelligent Sliding-Mode Control for Five-DOF Active Magnetic Bearing Five DOF Active Magnetic ...

95 Pages·2012·6.29 MB·English

Intelligent Sliding-Mode Control for
FFiivvee-DDOOFF AAccttiivvee MMaaggnneettiicc BBeeaarriinngg
Control System
Prof. Faa-Jeng Lin
Electric Machinery and Control Laboratory
DDeeppaarrttmmeenntt ooff EElleeccttrriiccaall EEnnggiinneeeerriinngg
National Central University
Electric Machinery and Control Laboratory,
1 EE, NCU, Taiwan
Outline
Abstract
(cid:132)
IInnttrroodduuccttiioonn
(cid:132)(cid:132)
System Dissection, Dynamic Analyses, and Experimental Designs
(cid:132)
of Five-DOF AMB Syystem
TAMB System
(cid:132)
Five-DOF AMB System
(cid:132)
Precise Tracking Control of TAMB System
(cid:132)
Using Model-Free Control Methods
(cid:132)
UUssiinngg AAddaappttiivvee CCoommpplleemmeennttaarryy SSlliiddiinngg-MMooddee CCoonnttrrooll
(cid:132)(cid:132)
Using Robust Non-Singular Terminal Sliding-Mode Control
(cid:132)
Robust Control of Fully Suspended Five-DOF AMB System
(cid:132)
Using Decentralized PID Neural Network Control
(cid:132)
Using Decentralized Intelligent Double Integral Sliding-Mode Control
(cid:132)
DDiiscussiions andd CConcllusiions
(cid:132)
Electric Machinery and Control Laboratory,
2 EE, NCU, Taiwan
Abstract
In this dissertation, a fully suspended five degree-of-freedom (DOF)
(cid:132)
AMB control syystem,, which is compposed of two radial AMBs
(RAMBs) and one thrust AMB (TAMB), is developed to fulfill the
requirements of the practical applications.
The motivations of this dissertation are:
(cid:132)
Chapters 3-5
TAMB Control System
TTAAMMBB PPoossiittiioonniinngg aanndd DDeevveellooppmmeenntt ooff TTrraacckkiinngg
System Tacking Controllers
Reference Trajectories and Performance
22××RRAAMMBB MMeeaassuurreess PPllaannnniinngg
Systems
Chapters 6-7
Five-DOF AMB Control System
Five-DOF AMB Regulating and Development of Decentralized
System Stabilizing Control Systems
OOppeerraattiinngg CCoonnddiittiioonnss aanndd PPeerrffoorrmmaannccee
Measures Planning
Electric Machinery and Control Laboratory,
3 EE, NCU, Taiwan
Outline
Abstract
(cid:132)
IInnttrroodduuccttiioonn
(cid:132)(cid:132)
System Dissection, Dynamic Analyses, and Experimental Designs
(cid:132)
of Five-DOF AMB Syystem
TAMB System
(cid:132)
Five-DOF AMB System
(cid:132)
Precise Tracking Control of TAMB System
(cid:132)
Using Model-Free Control Methods
(cid:132)
UUssiinngg AAddaappttiivvee CCoommpplleemmeennttaarryy SSlliiddiinngg-MMooddee CCoonnttrrooll
(cid:132)(cid:132)
Using Robust Non-Singular Terminal Sliding-Mode Control
(cid:132)
Robust Control of Fully Suspended Five-DOF AMB System
(cid:132)
Using Decentralized PID Neural Network Control
(cid:132)
Using Decentralized Intelligent Double Integral Sliding-Mode Control
(cid:132)
DDiiscussiions andd CConcllusiions
(cid:132)
Electric Machinery and Control Laboratory,
4 EE, NCU, Taiwan
Introduction
Magnetic suspension systems have attracted increasing attentions for
(cid:132)
manyy apppplications such as
Vibration isolation device
(cid:132)
High-speed maglev train
(cid:132)
FFaasstt-ttooooll sseerrvvoo ssyysstteemm
(cid:132)
Precision motion platform
(cid:132)
Biomedical engineering
(cid:132)
For several kinds of the magnetic suspension systems, magnetic
(cid:132)
bearing (MB) is used to suspend and move the rotor to the
predefined positions functionally by the controlled electromagnetic
ffoorrccee wwiitthhoouutt mmeecchhaanniiccaall ccoonnttaacctt aanndd ffrriiccttiioonn.
Electric Machinery and Control Laboratory,
5 EE, NCU, Taiwan
Introduction
MB offers many features over conventional bearings such as
(cid:132)
Advantagges: Disadvantagges:
Contact-free, frtionless High control complexity
(cid:132) (cid:132)
Elimination of the lubrication High initial cost
(cid:132) (cid:132)
IIddeeaall ffoorr cclleeaann-rroooomm ooppeerraattiioonn
(cid:132)
Minimum Equipments for fully suspended AMB
Low losses and longer life
(cid:132)
Electromagnets 10
Higher rotational speed
(cid:132)
Position Sensors 5
Low vibration and noise
(cid:132) Control Core (with 5AD and 5 DAconverters) 1
Tolerable against heat, cold,
(cid:132) PowerAmplifiers 5
vvaaccuuuumm
CCoonnssttaanntt CCuurrrreenntt SSoouurrcceess 55
MB can be divided into the passive MB (PMB), i.e. permanent MB,
(cid:132)
and the active MB (AMB), i.e., electromagnetic MB, mainly.
The term “passive” of PMB covers MBs that do not require any external current
(cid:132)
feed to the bearing.
TThhee tteerrmm “aaccttiivvee” ooff AAMMBB iimmpplliieess tthhaatt bbeeaarriinngg ffoorrcceess aarree aaccttiivveellyy ccoonnttrroolllleedd bbyy
(cid:132)(cid:132)
means of electromagnets through a well-designed closed control loop.
Electric Machinery and Control Laboratory,
6 EE, NCU, Taiwan
Introduction
What is AMB?
The elements of AMB:
(cid:132) Electromagnet
Power Amplifier
Electromaggnet
(cid:132)
Rotor
(cid:132)
Sensor
(cid:132)
CCoonnttrroolllleerr
(cid:132) Controller
Power Amplifier
(cid:132)
Rotor
Sensor
According to its structure and usage of AMB:
(cid:132)
Radial AMB (RAMB) Thrust AMB (TAMB) Combination
(cid:132) (cid:132) (cid:132) DDiisskk
, i.e. Axial AMB
RAMB TAMB
Electric Machinery and Control Laboratory,
Source: Schweitzer, Waukesha 7 EE, NCU, Taiwan
Introduction
Various applications of AMBs:
(cid:132)
Ω Shaft Imbalance Load
Torque
θ
AMB1
AMB2
AMB3
Aerodynamic
Loads
Flywheels
Helicopter and Tiltrotor
2 Stage Direct
Inverter Drive Centrifugal
Impellers
MMaaggnneettiicc BBeeaarriinngg SSttaaggee
TTurbbomollecullar
Inlet Pumps
Guide
Vanes
Compressor
Motor and
Bearing Controls Bearingless
Heart
PMB
Hard Drive
Motor
Pump
Higgh-Sppeed Sppindle
Electric Machinery and Control Laboratory,
Vacuum VesselBlood Pump Maglev Trains 8 EE, NCU, Taiwan
Introduction
In the AMB system:
(cid:132)
A fixed current is supppplied to each electromaggnet and can be referred as the
(cid:132)
bias current i . (i =>x )
b b 0
A variable current is superimposed on the bias current, which is obtained by the
(cid:132)
desiggned controller and can be referred as the control current i . ((ii =>△△xx))
cc c
The purpose of the bias setting is to improve the linearity of the
(cid:132)
force-current relationships around the operating point (i , x ).
b 0
The operating modes of the drive system which supply the currents
(cid:132)
to the electromagnets can be classified into three classes:
CCllass-AA ddriiviing modde ((ddiifffferentiiall ddriiviing modde, DDDDMM));
(cid:132)
Class-B driving mode;
(cid:132)
i － i i － i － i
Class-C driving mode. b c b c c
(cid:132)
i + i
i i
b c
b c
Class-A Class-B Class-C
Electric Machinery and Control Laboratory,
9 EE, NCU, Taiwan
Introduction
Comparisons of various developed AMB systems:
(cid:132)
Electric Machinery and Control Laboratory,
10 EE, NCU, Taiwan