Nonlinear Feedback Control of a Bearingless Brushless DC Motor
Nonlinear Feedback Control of a Bearingless Brushless DC Motor
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DOI：
10.1109/tmech.2009.2014058
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发表时间：
2010-02-01
影响因子：
6.4
通讯作者：
Gruber, Wolfgang
中科院分区：
文献类型：
--
作者：
Grabner, Herbert;Amrhein, Wolfgang;Gruber, Wolfgang
在性能和成本方面，对无轴承驱动配置的要求很高。所提出的无轴承无刷直流电机由5个对称排列的集中线圈组成，与永磁盘形转子相互作用，同时产生径向力和电机扭矩。此外，利用磁阻抗力对转子的倾斜偏转和轴向位置进行被动稳定。因此，与主动稳定所有6个自由度的传统无轴承电机设置相比，系统成本可以显著降低。由于被控对象的非线性，单纯采用线性控制设计方法不适合获得较高的运行性能。介绍了一种基于反馈线性化理论的无轴承无刷直流电机的径向位置和电机转矩控制算法。因此，通过系统坐标的非线性变换和静态反馈，可以将平动和转动动力学的组合模型分解为独立的线性系统。实验结果证明了该方法的有效性。
The demands on bearingless drive configurations concerning performance as well as costs are high. The proposed bearingless brushless dc motor consists of five concentrated coils in a symmetrical arrangement, which generate radial forces and motor torque simultaneously in interaction with a permanent-magnet-excited disk-shaped rotor. Additionally, tilting deflection and the axial position of the rotor are stabilized passively by means of magnetic reluctance forces. Thus, system costs can be reduced significantly compared to a conventional bearingless motor setup, which actively stabilizes all 6 DOF. Due to the nonlinearity of the plant, the use of linear control design methods alone is not suitable for achieving a high operation performance. This paper introduces a novel radial position and motor torque control algorithm for a bearingless brushless dc motor based on the theory of feedback linearization. Thereby, the combined model of translatory and rotatory dynamics can be split into independent linear systems by means of a nonlinear change of system coordinates and a static-state feedback. Experimental results demonstrate the effectiveness of the proposed approach.