五自由度无轴承异步电机[[alpha]]阶逆系统解耦控制

五自由度无轴承异步电机是一个多变量、非线性、强耦合的复杂控制对象，要实现电机转子稳定悬浮和运行，必须对电机转矩力和悬浮力进行动态解耦控制.本文应用多变量非线性[[alpha]]阶逆系统方法，对这个复杂控制系统进行动态解耦控制研究.首先介绍了三自由度磁轴承的工作原理和二自由度无轴承异步电机径向力产生机理，并给出三自由度磁轴承轴向力、径向悬浮力方程和二自由度无轴承异步电机转矩力和径向悬浮力方程，建立了电机的状态方程，然后分析了基于阶逆系统理论解耦控制的可行性，应用状态反馈线性化方法，将原复杂系统解耦并线性化，最后采用线性系统理论进行了综合和仿真.仿真结果表明这种控制策略能够实现五自由度无轴承异步电机转矩力与悬浮力之间的动态解耦，系统具有良好的动、静态性能.

Decoupling Control of 5 Degrees of Freedom Bearingless Induction Motors Using[[alpha]]-th Order Inverse System Method

A 5-degrees-of-freedom bearingless induction motor is a multi-variable, nonlinear and strong-coupled system. In order to achieve rotor suspension and operation steadily, it is necessary to realize dynamic decoupling control among torque and suspension forces. In the paper, a method based on [[alpha]]-th order inverse system theory is used to study dynamic decoupling control. Firstly, the working principles of a 3-degrees-of-freedom magnetic bearing and a 2-degrees-of freedom bearingless induction motor are analyzed, the radial-axial force equations of 3-degrees-of-freedom magnetic bearing, the electromagnetic torque equation and radial force equations of the 2-degrees-of-freedom bearingless induction motor are given, and then the state equations of the 5-degrees-of-freedom bearingless induction motor are set up. Secondly, the feasibility of decoupling control based on dynamic inverse theory is discussed in detail, and the state feedback linearization method is used to decouple and linearize the system. Finally, linear control system techniques are applied to these linearization subsystems to synthesize and simulate. The simulation results have shown that this kind of control strategy can realize dynamic decoupling control among torque and suspension forces of the 5-degrees-of-freedom bearingless induction motor, and that the control system has good dynamic and static performance.