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Research Papers: Gas Turbines: Structures and Dynamics

High-Precision Control for Magnetically Suspended Rotor of a DGMSCMG Based on Motion Separation

[+] Author and Article Information
Jinjin Xie

Science and Technology on Inertial Laboratory,
Beihang University,
New Main Building B606,
Xueyuan Road,
Beijing 100191, China
e-mail: xiejin1002@163.com

Gang Liu

Professor
Science and Technology on Inertial Laboratory,
Beihang University,
New Main Building B607,
Xueyuan Road,
Beijing 100191, China
e-mail: lgang@buaa.edu.cn

Hu Liu

Science and Technology on Inertial Laboratory,
Beihang University,
New Main Building B607,
Xueyuan Road,
Beijing 100191, China
e-mail: liuhu99@buaa.edu.cn

1Corresponding author.

Contributed by the Structures and Dynamics Committee of ASME for publication in the JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER. Manuscript received September 22, 2014; final manuscript received November 10, 2014; published online December 30, 2014. Editor: David Wisler.

J. Eng. Gas Turbines Power 137(7), 072504 (Jul 01, 2015) (10 pages) Paper No: GTP-14-1556; doi: 10.1115/1.4029205 History: Received September 22, 2014; Revised November 10, 2014; Online December 30, 2014

The magnetically suspended rotor (MSR) in a double-gimbal magnetically suspended control moment gyro (DGMSCMG) is a complicated system with multivariable, nonlinearity, and strong coupling. Not only the torsional motion of the MSR is coupled depend on the rotating speed but also its translational and torsional motions at the same axis are coupled due to the asymmetric position stiffness of magnetic bearings. Besides, the MSR also encounters the nonlinear coupling torque due to gimbals' movements. These problems influence the control accuracy of the MSR. To resolve these issues, this work presents a high-precision control strategy. A compensation method for asymmetric position stiffness is proposed to realize separation between the translational and torsional motions. Then the integral sliding mode control based on motion separation (MSISMC) is employed to stabilize the translational and torsional dynamics. To suppress the coupling torque from gimbals' movements, a novel switching function considering the estimation of the coupling torque is designed in torsional controller, and the decoupling control for the torsional motion is implemented by pole assignments. The stability of the closed-loop MSR control system is analyzed by the Lyapunov and state space methods. Comparative simulations and experiments verify the effectiveness and superiority of the proposed control strategy.

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Figures

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Fig. 1

Sketch of a DGMSCMG

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Fig. 2

Sketch of magnetic force and the MSR coordinate

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Fig. 5

Block diagram of the MSR control system based on motion separation

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Fig. 4

Current stiffness curve of magnetic bearings at four channels

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Fig. 3

Position stiffness curve of magnetic bearings at four channels

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Fig. 7

Displacements of translational and torsional motions under the step response of x

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Fig. 6

Comparative simulation results of the step response for rotor displacements at four channels

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Fig. 12

Displacements of the MSR with the rotating speed 15,000 r/min. (a) time-domain curves and (b) frequency-domain analysis.

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Fig. 13

Comparative experimental results of step response for rotor displacements at four channels. (a) PID + CF and (b) MSISMC.

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Fig. 14

Angular displacements of the torsional motion under the constant torque. (a) PID+CF and (b) MSISMC.

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Fig. 8

Angular displacements of the torsional motion under the constant torque

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Fig. 9

Displacements of translational and torsional motions under the sinusoidal torque at x-axis

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Fig. 10

Rotor displacements with the current stiffness decreased by 30%

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Fig. 11

Experimental system of DGMSCMG

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Fig. 15

Displacements of translational and torsional motions under the sinusoidal torque at x-axis. (a) PID + CF and (b) MSISMC.

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