(II)
The research and development of high speed spindle
with active magnetic bearing (II)
NSC 88-2212-E-009-034
878 - 887
E-mail:
[email protected]!"#$%
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This project is the second part of two-year project. The aims of this project are to design a upright type 5-DOF high speed spindle with magnetic bearings, acquire and analysis the characteristics of the magnetic bearings, design the robust controller and force estimator.
In the year, we finish the following investigations: (1) the identifi-cation of magnetic bearing system, (2) the design of the robust controller, (3) the design of the force estimator . The implementation of upright type 5-DOFs high speed spindle with
magnetic bearings will be investigated in the project. We hope that this project can be the base of industrial application about high speed spindle. lOV S mno 7pqrst uvWwfg cxR%& yz {|2}~8>R D cdR %&%& S78v<\ [3 D uH %& gh%& ¡¢$ oh%&£¢ ¤¥¦ ¢§¨©ª«,¬® ¯n° ±²³ ´µ ¶J´µ$ ° ·¸¤¥¹ºS»¼ ½ ±²8¥D¾¿À<%&Á ÂHS °¯ ÿÄÅÆ Çcb ÈÉÊËÌ "#$ Í<ÎÏ So¼D SÐ ÑÒ,Ó _ÔÕo£ÖIJS¢×()7p= > ? 'ØX,-01TU 8Ù ÚÛ,cdeÜg"#$ , ÝÞÁ 8Ù ßghàáS"#$%& ÚâÔcdã g\]'äåD æ7pç-!è éê8Ù EFëìIJí L îïEFðgñò*+óôõö÷
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= d d d x x g y s & & 0 0 0 0 0 (4)NO¾% Q &' Luenberger h( )\õS*62TU[1]hú+ IJSfg ,- Utkin h((, -TSú+$«. C*62[2] EF«,/0±1S213è IJB CùÇùæ WX èÇù45ù,D 4 UV6U 7p ØO 3789: ;'¢×#$89 . )*+0¢×() < \]= IHh '> «]äå `?D S EF !Æ @G (1) IJKLD (2) ./012'D (3) 34562'D ih¾¿7poh ()Hër A ½^[BC IJD :äåD 1. D.G.Luenberger,"An Introduction to Observers,"IEEE Trans. Auto. Control, Vol.AC-16, No. 6, pp.594~602, 1971. 2. Vadim Utkin,"On Variable Structure
Observers,"IEEE International Workshop on Variable Structure Systems, pp. 193~198, 1996.
3. M. Fumio, K. Hidehiko, "Fundamental Equation for Horizontal Shaft Magnetic Bearing and its Control System Design," Electrical Engineering in Japan, Vol. 101, No. 3, pp. 123-130, 1981.
4. M. Fumio, K. Mamoru, and T. Yoshimi, "Design Method of Hori-zontal Shaft Attractive Controlled Magnetic Bearing and Its Characteristic," Electrical Eng. in Japan, Vol. 103, No. 3, pp. 130-137, 1983.
" 5. M. Takeshi, and H. Toshiro, "design of
the Control System of Totally Active Magnetic Bearing- Structures of the Optimal Regular," Int. Symposium on Design and Synthesis, pp. 534-539, July 11-13, 1984.
6. K. D. Reinig, A. A. Desrochers,
"Disturbance Accomodating Con-trollers for Rotating Mechanical
Systems," Journal of Dynamic Systems, Measurement, and Control, Vol. 108, pp. 24-31, March 1986.
7. Rene Larsonneur, Design and Control of Active Magnetic Bearing Systems for High Speed Rotation, Offsetdruckerei AG, Zurich, 1990.
8. D. Pang, J. A. Kirk, and C. Huang, "Design Optimization for Magnetic Bearing," Proceedings of the 26th Intersociety Energy Conversion Engineering, Conference - IECEC '91, Boston, MA, USA, pp. 186-191, Aug. 4-9, 1991.
9. K. Youcef-Toumi, S. Reddy, "Dynamic Analysis and Control of High Speed and High Precision Active Magnetic Bearings,"Journal of Dynamic System, Measurement, and Control, Vol. 114, pp.623-633, Dec. 1992.
10. D. K. Rao, G. V. Brown, P. Lewis, and J.Hurley, "Stiffness of Magnetic Bearings Subjected to Combined Static and Dynamic Loads," Trans. of ASME, J. of Tribology, Vol. 114, pp.785-789, Oct. 1992.
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PD controller Decentralized Current Loop Magnetic Bearing System QFT Controller reference input − + + − position output Sensor Gain G PD g r y c d + − (external force) s Kq ù01BCù ùæ562VIJBCù$ ù4 562213èýP (1200RPM) ù: 562213èýP (3900RPM) ù, 562213èýP (6300RPM)
