Elektromanyetik Yataklı Rotorların MIMO PID Kontrolu

Yıl 2018, Cilt: 30 Sayı: 1, 26 - 39, 31.03.2018

İbrahim Sina Kuseyri

https://doi.org/10.7240/marufbd.341062

Öz

Elektromanyetik
yataklı rotorlar kararsız sistemler oldukları için geribeslemeli kontrol
çalışma şartlarının ayrılmaz bir parçasıdır. Rotor dinamiği sabit hızda doğrusal
ve zamanla değişmeyen özellikte olmakla birlikte, elektromanyetik yatak
dinamiği doğrusal değildir. Doğrusal olmayan yatak dinamiği sabit bir sapma
akımı kullanılarak bir çalışma noktası civarında doğrusallaştırılabilir. Bu
makalede yatay rotor/aktif manyetik yataklı sistemler için MIMO PID kontrolör
tasarlayarak SISO PID kontrol ile performansını karşılaştırmaktayız. Rotor
dinamiğindeki dinamik eşleşme birbirine dik yönlerde jiroskopik kuvvetler oluşturmaktadır.
Eşleşik (dinamik) dengesizlik kuvvetler nedeniyle oluşabilecek yanal yönlerdeki
açısal hareketlerin meydana getirdiği jiroskopik kuvvetlerin kompanzasyonu için
SISO PID kontrol yeterli performansa sahip değildir.

Anahtar Kelimeler

Konveks optimizasyon, MIMO PID kontrol, dinamik balanssızlık giderme, jiroskopik rotor dinamiği, elektromanyetik yataklar

MIMO PID Control of Rotors with Electromagnetic Bearings

Öz

Rotors with electromagnetic bearings are inherently
unstable systems; hence feedback control is an integral part of  their operation.  While the rotor dynamics is linear and
time-invariant  at  constant 
operation  speed,  electromagnetic bearing  model 
is  non-linear. Non-linear bearing
dynamics can be linearized at an operating point using a constant bias current.
In this paper we design a MIMO PID controller for horizontal rotor/active
magnetic bearing systems and compare its performance with respect to SISO
decentralized PID control. Dynamic coupling in rotor dynamics causes gyroscopic
forces to act at orthogonal directions on the rotor. SISO PID control lacks  sufficient 
performance  as  it 
has  limited capability to
compensate for the gyroscopic effects due to angular motions in transverse directions
which can be caused by couple (dynamic) unbalance forces. 

Anahtar Kelimeler

Konveks optimizasyon, MIMO PID kontrol, dinamik balanssızlık giderme, jiroskopik rotor dinamiği, elektromanyetik yataklar

Kaynakça

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