交叉PID集中控制器在磁悬浮轴承中的应用

将传统PID理论和LQR理论相结合,提出了一种易于工程实现的交叉PID集中控制器,解决了磁悬浮轴承系统中集中控制器普遍存在的设计复杂、实时计算量大、过度依赖精确的数学模型等缺陷.针对实验室的磁悬浮轴承试验平台,在以TMS320LF2407A 为CPU的数控系统,用DSP的汇编语言设计了交叉PID集中控制器.试验结果表明,交叉PID集中控制器成功地实现了五自由度磁悬浮轴承系统的静态与动态悬浮,最高转速达到了30000r/min,转子振动的峰峰值小于20.

Application of Cross-PID Centralized Controller in AMB

By taking both PID and LQR theory into accounted,the paper proposes the Cross-PID centralized controller,which is easy to be realized in engineering. The method avoides many problem such as large real-time calculation,the complexity of controller design,excessive dependence on the precision of mathematical model,which are prevalent in centralized controller of AMB system.We realized the controller by compiling the assemble language in the DSP chip TMS320LF2407A,which is the core of the numerical control system of AMB testing platform.The experimental results show the static and dynamic levitation of the five free-degree magnetic levitation system in which the maxmium rotating speed of 30000r/min and the top-top rotor vibration value of 20um is achieved.