System Identification and Robust Control of Multi-Input Multi-Output Active Magnetic Bearing Systems
System Identification and Robust Control of Multi-Input Multi-Output Active Magnetic Bearing Systems
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DOI：
10.1109/tcst.2015.2480009
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发表时间：
2016-07
影响因子：
4.8
通讯作者：
A. Noshadi;Juan Shi;W. S. Lee;P. Shi;Akhtar Kalam
中科院分区：
文献类型：
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作者：
A. Noshadi;Juan Shi;W. S. Lee;P. Shi;Akhtar Kalam
本文研究了多输入多输出（MIMO）主动磁轴承（AMB）系统的系统辨识和鲁棒控制。所研究的AMB系统是开环不稳定的，右半平面零点和转子柔性模态的存在给此类系统的控制设计带来了额外的难度。首先，使用系统的频域响应数据执行闭环系统识别。采用基于遗传算法的加权最小二乘法来获得系统的最佳频率加权模型。由于交叉耦合通道在低频区域的增益可以忽略不计，因此假设系统可以对角化。这允许将系统作为一系列低阶单输入单输出 (SISO) 子系统进行分析。另一方面，耦合通道引起的影响在较高频率下变得更加显着。因此，采用类似的方法，通过包含交叉耦合效应来获得系统的高阶MIMO模型。接下来，在系统的SISO模型的基础上设计了SISO H∞控制器和超前滞后型补偿器。为了争取更好的性能，在系统的MIMO模型的基础上综合了MIMO H2和HH∞最优控制器。通过考虑转子静止时的恒定扰动以及转子旋转时由离心力和转子质量不平衡引起的正弦扰动，对所设计的 SISO 和 MIMO 控制器的性能进行了广泛的实时实验研究。与最近发表的作品不同，该研究表明，被控系统的精确建模是高性能稳定控制器成功设计的关键，不仅保证了系统-控制器互连的内部稳定性，而且在所设计的控制器的实时实现之前不需要进一步修改。
This paper studies the system identification and robust control of a multi-input multi-output (MIMO) active magnetic bearing (AMB) system. The AMB system under study is open-loop unstable, and the presence of right-half plane zeros and the rotor flexible modes bring additional degrees of difficulty to the control design of such a system. First, a closed-loop system identification is performed using frequency-domain-response data of the system. Genetic-algorithm-based weighted least squares method is employed to obtain the best frequency-weighted model of the system. As the cross-coupling channels have negligible gains in the low-frequency region, it is assumed that the system can be diagonalized. This allows the analysis of the system as a family of low-order single-input single-output (SISO) subsystems. On the other hand, the effects caused by the coupling channels become more significant at higher frequencies. Therefore, a similar method is used to obtain a high-order MIMO model of the system by including the cross-coupling effects. Next, SISO H∞ controllers and lead-lag-type compensators are designed on the basis of the SISO models of the systems. To strive for a better performance, MIMO H2 and HH∞ optimal controllers are synthesized on the basis of the MIMO model of the system. Extensive experimental studies are conducted on the performance of the designed SISO and MIMO controllers in real time by taking into consideration both constant disturbances while the rotor is stationary and sinusoidal disturbances caused by the centrifugal forces and the rotor mass imbalance while the rotor is in rotation. Unlike the recently published works, it is shown that the accurate modeling of the system being controlled is the key to the successful design of high-performance stable controllers that not only guarantee the internal stability of the system-controller interconnection but also that no further modifications are required before the real-time implementation of the designed controllers.