在磁悬浮叶轮机械中，叶轮与转子装配界面的接触引入了附加接触刚度，减弱了转子系统模态阻尼，降低了磁悬浮轴承转子系统的性能及稳定性,激发出转子高频模态振动。目前关于磁悬浮轴承系统中接触界面引起的转子高频模态振动的研究相对较少且传统PID控制器无法有效抑制此类振动。为解决上述问题，设计基于柔性转子的H∞鲁棒控制器。首先对考虑界面接触的磁悬浮轴承转子系统进行动力学分析，探究其模态振动特性。之后对磁悬浮轴承转子系统进行扫频实验得到其频响曲线，在传统磁悬浮轴承刚性转子系统建模的基础上，基于柔性转子模态理论将转子传递函数模型进行重构，并基于此模型对转子系统扫频曲线进行拟合，得到转子系统的高阶模态参数，最终建立考虑高阶模态特性的被控对象模型，设计H∞鲁棒控制器。实验结果表明基于柔性转子模型的鲁棒控制器可以对接触界面引起的转子高频模态振动进行有效抑制。
Abstract
In the magnetic machinery, the contact between the impeller and the rotor assembly interface introduces additional contact stiffness, which weakens the modal damping of the rotor system, reduces the performance and stability of the magnetic levitation bearing rotor system, and excites the high frequency modal vibration of the rotor. At present, there are relatively few studies on the high-frequency modal vibration of the rotor caused by the contact interface in the magnetic suspension bearing system, and the traditional PID controller cannot effectively suppress such vibration. To solve the above problems, an H∞ robust controller based on flexible rotor is designed. First, the dynamic analysis of the magnetic suspension bearing rotor system considering the interface contact is carried out to explore its modal vibration characteristics. Afterwards, the frequency response curve of the magnetic suspension bearing rotor system was obtained by sweeping experiments. Based on the modeling of the traditional magnetic suspension bearing rigid rotor system, the rotor transfer function model was reconstructed based on the flexible rotor modal theory, and the rotor transfer function model was reconstructed based on this model. The system sweep frequency curve is fitted to obtain the high-order modal parameters of the rotor system. Finally, the controlled object model considering the high-order modal characteristics is established, and the H∞ robust controller is designed. The experimental results show that the robust controller based on the flexible rotor model can effectively suppress the high-frequency modal vibration of the rotor caused by the contact interface.
关键词
磁悬浮轴承 /
鲁棒控制 /
模态振动 /
接触刚度 /
转子接触界面
{{custom_keyword}} /
Key words
active magnetic bearing /
robust control /
modal vibration /
contact stiffness /
rotor interface;
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] Han B, Huang Z, Le Y. Design aspects of a large scale turbomolecular pump with active magnetic bearings [J]. Vacuum, 2017, 142: 96-105.
[2] Greenwood J A，Williamson J B. Contact of nominally flat surfaces [J]. Proc. R. Soc, 1966, 295: 300-319.
[3] 李辉光，刘恒，虞烈. 考虑接触刚度的燃气轮机拉杆转子动力特性研究[J]. 振动与冲击，2012，31(07)：48.
LI Hui-guang, LIU Heng, YU Lie. Dynamic characteristics of a rod fastening rotor for gas turbine considering contact stiffness [J]. Journal of Vibration and shock, 2012, 31(07): 48.
[4] 易均，刘恒，刘意，等. 接触界面对拉杆组合柔性转子轴承系统的非线性动力特性影响[J]. 振动与冲击，2012，31(17)：165-170.
YI Jun, LIU Heng, LIU Yi. Dynamic characteristics of a rod fastening rotor for gas turbine considering contact stiffness [J]. Journal of Vibration and shock, 2012, 31(17): 165-170.
[5] Wang L, Wang A, Jin M, et al. Nonlinear effects of induced unbalance in the rod fastening rotor-bearing system considering nonlinear contact[J]. Archive of Applied Mechanics, 2020, 90(5): 917-943.
[6] 魏彤，房建成. 磁悬浮控制力矩陀螺高速转子高频自激振动的抑制[J]. 宇航学报，2006，27(2)：291-296．
WEI Tong, FANG Jian-cheng. Self-excited vibration depression of high-speed rotor in magnetically suspended control moment gyroscope [J]. Journal of Astronautics, 2006, 27(2): 291–296
[7] 张剀，张小章，赵雷，等. 磁悬浮飞轮结构模态振动控制[J]. 机械工程学报，2007，43(6)：220-225.
ZHANG Kai, ZHANG Xiao-zhang, ZHAO Lei, et al. Structure eigen vibration control of flywheel suspended by active magnetic bearing [J]. Journal of Mechanical Engineering, 2007, 43(6): 220-225.
[8] 谷会东，赵雷，石磊，等. 电磁轴承支承挠性转子过临界控制器设计[J]. 清华大学学报(自然科学版)，2005，45(06)：821-823.
GU Hui-dong, ZHAO Lei, SHI Lei, et al. Controller design for a flexible rotor supported by active magnetic bearing passing the critical rotational speed [J]. J Tsinghua Univ (Sci& Tech), 2005, 45(06): 821-823.
[9] 李红伟，赵雷，石磊，等. HTR-10氦气气轮机电磁轴承系统控制器研究[J]. 核动力工程，2008，29(04)：100-103.
LI Hong-wei, ZHAO Lei, SHI Lei, et al. Study on Active Magnetic Bearing Controller for HTR-10 Helium Turbine Rotor [J]. Nuclear Power Engineering, 2008, 29(04): 100-103.
[10] Mushi S E, Lin Z, Allaire P E. Stability analysis for a flexible rotor on active magnetic bearings subject to aerodynamic loads[C]. Proceedings of the 12th international symposium on magnetic bearings, 2010: 22-25.
[11] Ran S, Hu Y, Wu H. Design, modeling, and robust control of the flexible rotor to pass the first bending critical speed with active magnetic bearing [J]. Advances in Mechanical Engineering, 2018, 10(2): 1-13.
[12] 崔培玲，赵光再，房建成，等. 基于相移陷波器的磁轴承不平衡振动全频自适应控制[J]. 振动与冲击，2015，34(20)：16-20
CUI Pei-ling, ZHOU Guang-zai, FANG Jian-cheng, et al. Adaptive control of unbalance vibration for magnetic bearings based on phase-shift notch filter within the whole frequency range [J]. Journal of Vibration and shock, 2015, 34(20)：124-128.
[13] Mushi S E. Robust control of rotordynamic instability in rotating machinery supported by active magnetic bearings[D]. Doctor of Philosophy Dissertation, University of Virginia, Virginia, 2012.
[14] Han X, Zhou J, Zhou Y. Analysis and Suppression of Self-Excited Vibration of Flexible Rotor AMBs System[J]. Journal of Vibration Engineering & Technologies, 2021: 1-12.
[15] 姚润晖，周瑾，关旭东，等. 磁悬浮轴承系统联轴器不对中动态特性研究[J]. 振动.测试与诊断，2022，42(01)：124-128.
YAO Run-hui, ZHOU Jin, GUAN Xu-dong, et al. Dynamic Characteristics of Magnetic Bearing System with Coupling Misalignment [J]. Journal of Vibration, Measurement & Diagnosis, 2022, 42(01): 124-128.
[16] Tang E , Han B , Yin Z. Optimum Compensator Design for the Flexible Rotor in Magnetically Suspended Motor to Pass the First Bending Critical Speed [J]. IEEE Transactions on Industrial Electronics, 2015, 63(1): 1-1
{{custom_fnGroup.title_cn}}
脚注
{{custom_fn.content}}
PDF(3337 KB)
