| Due to the advantage of non-contact, high density of integration and isolation, bearingless motorhas special applicant prospect in the super clean field such as biochemistry, medical chemistry and soon. However, the structure of the motor is relatively complex and the control precision of thelevitation system is high. As a result, the traditional control strategy of PID is hard to realize highperformance, especially the bad disturbance resistance ability. Aiming at solving the problem above,the disturbance rejection levitation system of bearingless motor based on Extend State Observer (ESO)is presented in this paper. Taking bearingless permanent magnet slice motor (BSM) for example, thefollowing jobs are achieved.Firstly, the levitation principle and the math model of BSM are deeply researched. At thefoundation of the basic principle of ESO, the math model of the bearingless disturbance rejectionlevitation system is established and optimized, and the high precision model is obtained.Secondly, the scheme of parameters adjusting is deeply discussed at the two aspects of theoryand practice. In theory, the steady range of the nonlinear parameters is proved by the control theory ofnonlinear system. In practice, the physical significance of the nonlinear parameters is obtained fromthe motor parameters and the actual motion.Thirdly, by comparison, the Simulink models of the traditional PID levitation system and thenovel one are both established in MATLAB. By simulating different kinds of disturbance acting onthe motor, including constant disturbance, step disturbance, cycle pulse disturbance, the sinedisturbance and the unknown white noise disturbance, the dynamical and steady performance of thetwo systems are simulated.Finally, the hardware system and the software system of BSM experiment platform are related,and the flow charts of the software are described. And the performance of the two systems above isverified in different working condition. |
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