Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Thit k b iu khin phn hi trng thi c b quan st Luenberger cho h thng vng bi t ch ng rotor cng 4 bc t do Design a state feedback controller with Luenberger observer for 4 degree of freedom - rigid rotor active magnetic bearing system
Trn Lc Quna, Trn Xun Minhb Trng H K thut Cng nghip Thi nguyn e-mail: atranlucquan@tnut.edu.vn, btranxuanminh@dhktcn.edu.vn Tm tt
Bi bo trnh by nhng phn tch chi tit xy dng mt m hnh ton hc hon chnh cho h thng vng bi t ch ng, rotor cng, 4 bc t do (phng chuyn ng), da trn cc nguyn l c bn v in c t. nh hng hi chuyn (gyroscopic effect), mt trong nhng nguyn nhn chnh lm xu i cht lng lm vic ca h thng vng bi t ch ng cng c cp n v c gii quyt trit bng mt phng php iu khin hu hiu. Ngoi ra, nghin cu ny thit k mt b quan st trng thi (Luenberger) khc phc cho nhng bin trng thi khng th o c trong gii php iu khin phn hi trng thi xut. ng thi n cng cho php nh gi ng hc h thng. Vi phng php thit k tch bit cho b iu khin phn hi trng thi v b quan st Luenberger, cc kt qu m phng cho thy cc p ng ca h thng nhiu u vo nhiu u ra (MIMO) c kh nng n nh ha nhanh, cht lng ng m bo tt. Abstract: Based on mechanical electrical magnetic principles, the paper presents detailed analyses to build a completed mathematical model for 4 degree of freedom - rigid rotor active magnetic bearing (AMB) system. Gyroscopic effect, one of significant reasons affecting to performances of system is mentioned in this research. It then is eliminated completely by an effective control algorithm. Furthermore, within the framework of proposed state feedback design, a full-order (Luenberger) observer is designed to achieve all estimating state variables which cannot be gained totally by measuring in reality. Besides, the observer allows to evaluate dynamics of system. The proposed method can design controller and observer separately. As a result, MIMO systems responses achieve quick stabilization and good performances. Aa liron, lfe 0, iron, fe F(x, i) i0 g0 G(s); H(s) lrt Ji, Jj, Jk rm Ki Ks ga q M, R Ke cm2 cm Wb H/m N A tit din mt ct khe h khng kh chiu di ng i ca t thng trong li thp v trong mch t t thng trong mch t t thm trong khng kh, li thp v trong mch t lc in t dng in phn cc khe h khng kh danh nh hm truyn t chiu di t tm h n AMB momen qun tnh trn cc trc i, j, k. vn tc gc rotor h s lc in t - dng in h s lc in t - chuyn dch gia tc trng trng vector chuyn dch ca AMB cc ma trn iu khin ma trn h s ca b quan st

m kg.m2 rad/s

m/s2

Ch vit tt
AMB DOF MIMO MHTT t tnh tch cc Bc t do nhiu u vo nhiu u ra M hnh khng gian trng thi

1. Phn m u
Mt h thng vng bi t ch ng (AMB) thng gm mt nhm cc c cu in t c dng treo mt vt trong khng gian v s dng iu khin phn hi n nh ha cho h. Do s dng cc lc t h tr cho chuyn ng ca my m khng cn c tip xc c hc nn cng ngh vng bi mi ny to ra mt s cc u im ni bt so vi cc loi vng bi thng thng. B iu khin c th thay i cc thuc tnh tt dn v cng ca AMB[1, 2], [7]. Gii php iu khin ng vai tr quan trng trong thit k h thng AMB.Tuy nhin, trong rt nhiu ng dng, cht lng lm vic ca b iu khin li ph thuc rt ln vo nh hng xen knh khng mong mun ca h thng. nh hng ny ch yu do yu t hi chuyn gy nn khi vt chuyn ng quay tc cao. Nu b qua yu t ny, cht lng lm vic ca ton h s khng c tt nh mong mun. Rt nhiu cc phng php

K hiu
K hiu n v ngha A, B, C, D cc ma trn ca h thng Mf, G, D, Bf cc ma trn h s ca phng trnh vi phn ma trn Wa nng lng tch tr ti khe h khng kh Ba Tesla mt t thng ti khe h khng kh

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iu khin c p dng thnh cng cho cc h thng AMB khi c k n v khng k n nh hng hi chuyn [4-9]. T cc gii php iu khin phi tp trung nh PD, PID cho n cc phng php iu khin phi tuyn nh tuyn tnh ha phn hi, backstepping[4, 5], [7]. Xu hng cho cc gii php iu khin hin i cng ang c quan tm nhiu l: LQR, LQG, H, tng hp [7-9]. Xu hng ny ngy cng pht trin mnh m l do cng ngh cm bin tin tin hin nay cho php thc hin nhiu php o cc i lng vt l khc nhau phc v cho mc ch phn hi i lng iu khin. Ngoi ra, gii php iu khin ton h thng c tp trung v mt mi, y chnh l im khc bit ln so vi gii php iu khin phi tp trung. B quan st trng thi l mt ng dng hu ch trong vic nh gi ng hc h thng thng qua cc tn hiu u ra ca h. Ngoi ra, n c th khc phc cho mt s bin trng thi khng th o c ca h thng. Da trn nguyn l tch, b quan st v b iu khin c thit k c lp vi nhau [11]. Nghin cu ny s tp trung ch yu vo xy dng mt m hnh ton hc cht ch cho AMB 4 DOF c k n nh hng hi chuyn trong ng lc hc h thng. Sau , yu t xen knh trong h thng s c loi b trit bng mt lut iu khin hu hiu. Sau cng, bi bo xy dng mt b iu khin phn hi trng thi c s dng b quan st Luenberger nhm ci thin cht lng ng ca h thng.

Wa

1 2 Ba dVa 2m

2 Ba 2s 2m0

liron miron

l fe m fe

Aa

(1a)

Trong : Va = 2sAa; Aa c gi thit l vng chiu ca b mt cc; Gi thit khng c t thng d: = a = fe Ni

2g m0

liron m0 miron m0 Aa Ni liron miron l fe

l fe m0 m fe

1 Aa

(1b)

2g

m fe

Trng hp t trng ti khe h khng kh l ng nht, ta s tnh ton c: B = Ba= /Aa; Nu vt th b dch chuyn i mt lng s th mt lc in t F sinh ra [1, 2], [4]: Wa m0 Aa N 2 i 2 (2) F 2 s l fe liron 2s miron m fe Mi quan h gia lc in t v dng in trong biu thc (2) dng bnh phng cho thy y l mi quan h phi tuyn. Thng thng cc hm phi tuyn c xp x bng phng php tuyn tnh ha ti im lm vic. Lc in t c th c vit di dng tuyn tnh ha nh sau [1, 2]: (3) F( x, i) Ki ix Ks x mx Vi K

2. M hnh ha h thng AMB

i tng nghin cu l mt h thng gm hai b AMB, c b tr ti hai u ca rotor, iu khin chuyn v phng ng v phng ngang ca rotor theo 4 bc t do (bn phng). B AMB1 to ra cc lc treo hng knh theo cc trc xA v yA, B AMB2 to ra cc lc treo hng knh theo cc trc xB v yB, ng lu rng, khi ta xem xt n c cc gc nghing trong chuyn ng ca trc rotor th hiu ng hi chuyn gy nn s xen knh khng mong mun gia cc trc xA, yA, xB v yB.

1 m0 N 2 Aa ; Ki 4

2K

i0 ; Ks 2 g0

2K

2 i0 v 3 g0

liron miron

l fe m fe

c b qua khi khng k n nh

hng ca t ha ca vt liu st t. 2.2 Cc phng trnh ng lc hc Da trn nguyn l ng lc hc vt th quay v cc nghin cu trong [1], [3-6] cc phng trnh m t cho chuyn ng quay ca rotor cng trong h thng AMB 4 DOF c biu din bng cc phng trnh chuyn ng tnh tin v chuyn ng nghing. Cc phng trnh ng hc i vi chuyn ng tnh tin phi c xem xt trn thc t l lc hng knh c sinh ra bi c hai b AMB. Do vy ta c: mx p Fxp 2 K s x p (4) my p Fyp 2 K s y p Trong : Fxp ; Fyp l cc lc tnh tin theo phng x v y tng ng; i vi chuyn ng nghing, cc phng trnh ng hc c xy dng phc tp hn. Nu trc rotor nghing i mt gc bng yr / lrt th n s c mt gia tc gc bng yr / lrt . Momen bn ngoi l tng ca cc thnh phn momen sinh ra t dng in iu khin v chuyn dch, Fyr lrt v (2K s yr )lrt .

H.1 H thng AMB trc ngang 4 bc t do[6] Cc phng trnh chuyn ng ca rotor v cc phng trnh in t phi tuyn l tp cc phng trnh m t c tnh ng hc ca h thng. 2.1 Cc phng trnh in t Nng lng tch tr ti khe h khng kh Wa, v t thng khe h khng kh a c tnh ton theo cc cng thc [4]:

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Ji y Ji x wrm J k xr wrm J k yr
2 2 K s lrt yr 2 2 K s lrt xr 2 lrt Fyr 2 lrt Fxr

(5)

Trong : rm l tc quay ca rotor; lrt l chiu di gia AMB n tm khi ca h; Ji, Jj v Jk l cc qun tnh tng ng quanh cc trc x, y v z. (Ji = Jj do cu trc i xng ca trc rotor); Fxr ; Fyr l cc lc nghing theo phng x v y tng ng; Thnh phn th nht v phi ca hai phng trnh trn l cc momen sinh ra do nh hng hi chuyn (gyroscopic effects). Cc thnh phn ny c nh hng ln khi AMB lm vic ti tc quay cao. Cc phng trnh chuyn ng ca h thng AMB rotor trc cng 4 DOF khi c k n nh hng hi chuyn: 2 2 J i yr wrm J k xr 2k x lrt yr lrt Fyr

Ks

0 K sA K sA 0 0 KiA KiA 0

0 K sB K sB 0 0 KiB KiB 0

K sA 0 0 K sA KiA 0 0 KiA

K sB 0 ; qb 0 K sB KiB 0 ;i 0 KiB ixA ixB i yA i yB

xbA xbB ybA ybB

Ki

qb: l vector chuyn dch v tr ca rotor ti cc AMB. i: l vector dng in iu khin cho cc AMB Vi Y qb Ts q Thay (9) vo (7) ta c: q M 1Gq M 1 ( D B f K sTs )q M 1 B f Ki i (10) Ta t:

mx p J i xr my p

Fxp Fyp

2k x x p
2 2k x lrt xr 2 lrt Fxr

wrm J k yr 2k x y p

(6)

q q ;U

i;

2.3 Php biu din khng gian trng thi H phng trnh (6) c th c biu din di dng phng trnh vi phn nh sau: (7) M f q Gq Dq B f F Trong : Mf: ma trn trng khi; G:ma trn hi chuyn; D: ma trn cng; Bf: ma trn h s ca F ; F: vector lc (u vo); q: vector v tr ca rotor; Ts: ma trn chuyn v 0 0 J k wrm 0 Ji 0 0 0

Y xbA ybB ybA xbB MHTT ca ton h thng AMB 4 DOF s l: 04 4 I4 4 X AX+BU ;A 1 M ( D B f K sTs ) M 1G Y CX DU

04

(11)

M 1 B f Ki

;C

I4

04

;D

04

3. Thit k b iu khin
3.1 Tch knh phn hi trng thi bng phng php Falb-Wolovich MHTT (10) ca h thng AMB 4 DOF biu din di dng tng qut l: x Ax+Bu (12) y Cx vi x

Mf

0 0 0
2 2 K s lrt 0 0 0 2 lrt 0

m 0 0 Ji 0 0

0 ; G 0 m

0 0 J k wrm 0 0
0 0 ; q 0 2Ks lc 1 0 ld 0 0 1 0 0 lc 0 ld

0 0 0
yr

0 0 0

0
xp xr yp 0 0 1 1

Rn ; u, y

Rm ; A

Rn n ; B

Rn m ; C

Rm

0 2K s 0 0 0 0
2 rt

0 0 2 2 K s lrt 0 0 0 0 1

gii quyt bi ton tch knh phn hi trng thi ta p dng lut iu khin u Rx Mr , h (11) khi s c dng nh sau:

x y

A Cx

BR x+BMr

(13)

Bf

0 1

0 0
Fyr

0 l 0 0
Fxp

; Ts

Fxr

Fyp

Fxp
Trong :

Fx1 Fy1 Fx1 Fy1

Fx 2 Fy 2 Fx 2 Fy 2
(8)

Fyp Fxr Fyr

T (3) v (8) mi quan h vector lc in t biu din cho 2 b AMB s l: F Ks qb Ki i (9)

v ma trn hm truyn c dng: (14) H (s) C (sI A BR) 1 BM Do vy, gii php iu khin tch knh phn hi trng thi yu cu phi tm c cc ma trn iu khin R v M H(s) c dng ma trn ng cho v kh nghch. Li gii cho cc ma trn R, M c trnh by c th ti [10, 11]. 3.2 B quan st Luenberger tng c bn ca b quan st Luenberger l s phi hp ni tip gia hai h thng tuyn tnh thi gian bt bin vi nhau. Cc tn hiu u(t) v y(t) phi c cp n b quan st Luenberger nhm to ra u ra ca ( ca b quan st gi tr nh gi x t ) ca gi tr trng thi thc x(t ) . Vi cu trc nh vy, x s dn hi t

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

n x [8]. Hay ni cch khc, ta a ra khi nim sai lch quan st e(t ) : ( . Khi x t ) c e(t ) x(t ) x(t ) 0 khi t kt lun l quan st tt. Xt MHTT (11) c biu din nh trong H.2. Khi , b quan st Luenberger c m t bng phng trnh vi phn trng thi: (15) x Ax Bu Ke ( y Cx ) trong , Ke l ma trn h s ca b quan st. Vector sai lch: e x x . Ly phng trnh th nht trong (11) tr cho (15), ta c: (16) e ( A Ke C ) e T (15), ta s c phng trnh cho b quan st: (17) x ( A KeC ) x Bu Ke y T (16) cho bit p ng ng ca vector sai lch ph thuc vo cc gi tr ring ca ( A KeC ) . Nu cc gi tr ring ca ( A KeC ) nm ti vng pha tri ca trc o trn mt phng phc, e(t ) 0 khi t , ( gi tr x t ) s c xu hng tin n gi tr thc x(t ) . 3.3 Thit k iu khin phn hi trng thi c khu quan st

x e y

BK 0

BK x A KeC e

x C 0 e

(22)

Phng trnh (21) m t ng hc vng kn ca h thng iu khin phn hi trng thi c s dng b quan st v phng trnh c tnh s l: (23) sI ( A BK ) sI ( A KeC ) 0 Phng trnh (23) cho thy rng cc im cc vng kn mong mun ca h thng iu khin khng h thay i khi c mt b quan st trng thi. Do m ta c th thit k tch ri. S dng cc vector trng thi x v x , ta c cc phng trnh trng thi ca h thng vng kn l: x A BK x (24) Ke C A Ke C BK x x

4. Tnh ton v m phng

Bng 1: Cc thng s m phng ca AMB 4 DOF[8]: Trng lng rotor (kg) m=12.4 Khong cch t tm h n cc lrt= la= lb AMB (m) = lc = ld = 0.21 Momen qun tnh trn trc k (kg.m2) Jk=6.88x10-3 Momen qun tnh trn trc i v j Ji = Jj (kg.m2) = 2.22x10-1 Tc ca rotor (RPM) 10000 T s lc in t-dng in (N/A) Ki = 102.325 T s lc in t-chuyn v (N/m) Ks = -4.65x105 2 Gia tc trng trng (kg.m/s ) g=9.81 T H.3 cho thy rng 2 trong s 8 im cc ca h h nm pha bn phi ca trc thc, 2 im cc khc nm ti v tr bin gii n nh (zero) trn mt phng phc. iu ny cho thy h c bn cht mt n nh c hu.

H.2: H thng iu khin vng kn phn hi trng thi s dng b quan st Luenberger Hnh H.2 th hin h thng (11) v b quan st Luenberger (17). Khi p dng lut iu khin phn hi trng thi vo ta s c: (18) u Kx Mr Tuy nhin, s n nh ca mt h thng iu khin l mt thuc tnh ni ti v khng ph thuc vo cc i lng bn ngoi t vo. Do vy, ta c th cho r 0 thun tin cho nghin cu. Vy nn, (18) s tr thnh: u (19) Kx ( Vi x t ) x(t ) e(t ) (20) Kt hp (11), (19) v (20) s cho ra phng trnh h kn nh sau: (21) x Ax BK ( x e ) ( A BK ) x BKe Kt hp (16) v (21) ta c:

H.3: th cc im cc ca h h trn mt phng phc Ngoi ra, nh hng hi chuyn th hin s c mt rt r rng khi trong h h H(s) tn ti cc thnh phn ngoi ng cho chnh. S tn ti ca cc thnh phn ny trong h h chnh l nh hng cho gia cc u vo vi cc u ra.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

H11 ( s) H12 ( s) H13 ( s ) H14 ( s ) H 21 ( s) H 22 ( s ) H 23 ( s ) H 24 ( s ) H 31 ( s ) H 32 ( s ) H 33 ( s ) H 34 ( s ) H 41 ( s) H 42 ( s ) H 43 ( s ) H 44 ( s )
B11 (s) ;B11 (s)=b0 s 3 -b1s 2 +b2 s-b3 A(s)
6 5 4 3 2

H 41 (s)=

H ( s)

B41 (s) ;B41 (s)=-b0 s 4 -b1s 3 -b2 s 2 +b3 s-b4 A(s)

13

b0 =20.33;b1=5.093 10

;b2 =5.28 106 ;

b3 =1.835 10 8 ;b4 =2.818 1011

H 11 (s)=

H 42 (s)=

B42 (s) ;B42 (s)=b0 s 2 +b1s-b2 A(s)

B43 (s) ;B43 (s)=b0 s 3 +b1s 2 +b2 s+b3 A(s)
10

b0 =6299;b1=7.89 105 ;b2 =9.45 108 ;b3=1.18 1011 A(s)=a0 s - a1s +a2 s -a3 s +a4 s +a5 s+a6 a0 =1;a1=7.105 10
15

b0 =3.202 105 ;b1=1.02 10 8 ;b2 =5.917 1010 ;

H 43 (s)=

;a2 =5.406 105 ;a3=1.203 107

a4 =6.907 1010 ;a5 =0.006836;a6 =2.448 1015

b0 =6299;b1=5.37 10
H 44 (s)= 8.252 s2

;b2 =4.73 108 ;b3=5.917 1011

H 12 (s)=

B12 (s) ;B12 (s)=b0 s 4 -b1s 3 +b2 s 2 -b3 s+b4 A(s)

12

b0 =8.252;b1=1.759 10

;b2 =3.842 106 ;

b3 =1.985 108 ;b4 =2.942 1011

H 13 (s)= B13 (s) ;B13 (s)=b0 s 4 -b1s 3 +b2 s 2 -b3 s+b4 A(s)
13

b0 =20.33;b1=2.278 10

;b2 =6.806 106 ;

b3 =7.433 10 8 ;b4 =5.635 1011

H14 (s)=0
H 21 (s)= B21 (s) ;B21 (s)=-b0 s 3 +b1s 2 -b2 s+b3 A(s)
5

b0 =6299;b1=7.9 105 ;b2 =5.926 10 7 ;b3=2.57 10

H 22 (s)=

B22 (s) ;B22 (s)=b0 s 4 -b1s 3 +b2 s 2 -b3 s+b4 A(s)

13

b0 =8.252;b1=7.66 10

;b2 =3.842 106 ;

Phng php tch knh Falb Wolovich trnh by ti mc 3.1 c p dng thnh cng thu c ma trn hm truyn ca h h c dng: 1 0 0 0 s2 1 0 0 0 s2 H (s) 1 0 0 0 s2 1 0 0 0 s2 Tt c cc phn t khc ngoi ng cho chnh u bng zero. Cng vi cc h s M, R c gi tr nh sau: M

b3 =2.9 10 7 ;b4 =2.693 1011

B (s) H 23 (s)= 23 ;B23 (s)=-b0 s 4 -b1s 3 -b2 s 2 +b3 s-b4 A(s) b0 =20.33;b1=1.854 10
8 12

954.52 9 10 954.52 4545.3 0

0 R 0 0.024598

13

4545.3 0 954.52 0 0 0

0.33618 0 0 0 7.6232 0 7.6232 0

0

9090.6 4545.3 0 0.33618 0 0 0

4545.3 0 954.52 0 0 0
1.374 1.374 0 0.0010848

;b2 =3.756 106 ;

6

b3 =5.74 10 ;b4 =4.447 10

H 24 (s)=0
H 31 (s)= B31 (s) ;B31 (s)=b0 s 4 +b1s 3 +b2 s 2 +b3 s+b4 A(s)
13

0.0010848 0 0 0.060591

b0 =20.33;b1=2.184 10

;b2 =5.28 106 ;

b3 =1.107 10 7 ;b4 =2.818 1011

H 32 (s)=

B32 (s) ;B32 (s)=-b0 s 2 +b1s-b2 A(s) B33 (s) ;B33 (s)= b0 s 3 +b1s 2 -b2 s-b3 A(s)
10

b0 =3.202 105 ;b1=5.11 10 8 ;b2 =5.917 1010 ; H 33 (s)=

0.024598 0 0 0.060591 Vi 8 im cc c chn nh sau: -3+3i -3-3i -6-5.85i -6+5.85i p -9 -12 -15-16.5i -15+16.5i Khi ma trn h s K ca b iu khin phn hi trng thi s tnh ton c lp thng qua phng trnh c tnh ca h kn. T y ta c th xy dng c 4 p ng u ra theo thi gian ca h thng AMB 4 DOF iu khin phn hi trng thi khi cha c mt b quan st. Vi iu kin u ca cc bin trng thi l:
10

b0 =6299;b1=5.4 10
H 34 (s)= 8.252 s2

;b2 =4.73 10 ;b3=5.9 10

x0

0.5 0.01 0.1 0 0 0.05 0 0.02

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

b quan st Luenberger c th c thc hin ring bit do cc im cc vng kn mong mun ca h thng iu khin khng h thay i khi c mt b quan st trng thi. Di tc ng ca b iu khin phi hp ny, h thng MIMO ca AMB 4 DOF nhanh chng thu c s n nh ha. Nng lng s dng iu khin cc cun dy in t l rt nh khi h i vo n nh. Cc kt qu tnh ton v m phng cho thy h thng t c cht lng ng tt.

H.4: p ng u ra ca h thng iu khin phn hi khi cha c b quan st Luenberger Nh cp trn, ma trn h s ca b quan st c th c thit k tch bit m khng lm nh hng n v tr mong mun ca cc im cc trong h thng iu khin vng kn. Cc im cc mong mun ca b quan st Luenberger c chn ln gp 10 ln cc im cc ca h vng kn nhm thu c cc p ng nhanh hn ti u ra b quan st: pobs 10 p Ma trn h s ca b quan st thu c l: 1755.6 2.6242 4.6059 0.005253

Ti liu tham kho

[1] Akira Chiba, Tadashi Fukao, Osamu Ichikawa, Masahide Oshima, Masatsugu Takemoto and David G. Dorrell, Magnetic Bearings and Bearingless Drives. Newnes, 2005 [2] Gerhard Schweitzer and Eric H. Maslen, Magnetic Bearings: Theory, Design, and Application to Rotating Machinery. Springer-Verlag, 2009 [3] John Vance, Fouad Zeidan and Brian Murphy, Machinery Vibration and Rotordynamics, John Wiley & Sons, 2010 [4] Russell D. Smith and William F. Weldon, Nonlinear control of a Rigid Rotor Magnetic Bearing System: Modeling and Simulation with Full-state feedback, IEEE Transactions on Magnetics, Vol. 31, No. 2, March 1995 [5] Marcio S. de Queiroz and Darren M. Dawson, Nonlinear control of Active Magnetic Bearing: A backstepping approach, IEEE Transactions on Control Systems Technology, Vol. 4, No. 5, March 1996 [6] Abdul R. Husain, Mohamad N. Ahmad and Abdul H. M. Yatim, Deterministic models of a Active Magnetic Bearing System, Journal of Computers, Vol. 2, No. 8, October 2007 [7] Kasadar, M.E.F An overview of active magnetic bearing technology and applications, The Shock and Vibration Digest, Vol.32(2), pp.91 99, 2000 [8] Tian Ye, Sun Yanhua, Yu Lie, LQG Control of Hybrid Foil-Magnetic Bearing, 12th International Symposium on Magnetic Bearings, August, 2010 [9] Chunsheng Wei, Dirk Soffker, MIMO-control of a Flexible Rotor with Active Magnetic Bearing, 12th International Symposium on Magnetic Bearings, August, 2010 [10] Qing-Guo Wang, Decoupling Control, SpringerVerlag, 2003 [11] P. Albertos and A. Sala, Multivariable Control Systems, Springer-Verlag, 2004

60.008

0.55897 1.3415

3.63 10

3.1849 1996.7 Ke 0.33994 85.536 1.0458

322.38 0.25864 74.341 0.00135

120.04 2821 0.24486 0.67112 2700

1.1745 60.287 94.456 0.007286 0.0051571 0.34296

5

9.8 10 0.006562 0.01315 105 S dng cng iu kin u x0 cho b quan st: T x0 0.5 0.01 0.1 0 0 0.05 0 0.02

c p ng u ra ca b quan st Luenberger nh trong H.5 di y:

H.5: p ng u ra ca b quan st Luenberger

5. Kt lun
Nghin cu ny trnh by trn vn vic m hnh ha h thng AMB 4DOF bng cc phng trnh vi phn v di dng MHTT. nh hng hi chuyn gy nn s xen knh iu khin cng c loi b trit thng qua phng php tch knh ng FalbWolovich. Thit k iu khin phn hi trng thi v

VCCA-2011

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