Model Measurement and Identification of Flexible Rotor Suspended by Electromagnetic Bearing

  • SUN Zhe ,
  • ZHAO Jingjing ,
  • SHI Zhengang
Expand
  • 1. Institute of Nuclear and New Energy Technology, Tsinghua University, Beijing 100084;
    2. The Key Laboratory of Advanced Reactor Engineering and Safety, Tsinghua University, Beijing 100084

Online published: 2016-04-15

Abstract

Electromagnetic bearings(EMBs) possess several attractive advantages, such as no friction, no need of lubrication, and the ability of long-term high speed running. Thus EMBs are widely applied in high-speed rotating machineries and rotating machineries under special environments. The mathematical model of an EMB system plays an important role in analyzing the whole system and designing the controller. Due to many practical reasons, the computational models are usually not precise enough. Therefore, measurement is an important means to obtain the model of an EMB system. A measurement and identification method is proposed, the closed-loop frequency response model via swept-sine technique is measured by this method, then the model is transformed to the open-loop frequency response model, finally the transfer function model will be identified. The proposed method is validated by experiments on a real EMB system.

Cite this article

SUN Zhe , ZHAO Jingjing , SHI Zhengang . Model Measurement and Identification of Flexible Rotor Suspended by Electromagnetic Bearing[J]. Journal of Mechanical Engineering, 2016 , 52(8) : 16 -22 . DOI: 10.3901/JME.2016.08.016

References

[1] SCHWEITZER G, TRAXLER A, BLEULER H. Magnetlager:Grundlagen, eigenshaften und anwendungen berührungsfreier elektromagnetischer lager[M]. Berlin:Springer Verlag, 1992.
SCHWEITZER G, TRAXLER A, BLEULER H. Magnetic bearings:Basis, characteristics and applications of friction-free electromagnetic bearings[M]. Berlin:Springer Verlag, 1992.
[2] SCHWEITZER G, MALSEN E H. Magnetic bearings:Theory, design and application to rotating machinery[M]. Berlin:Springer Verlag, 2009.
[3] 孙喆, 徐旸, 石磊. 电磁轴承-柔性转子系统建模与仿真[C/CD]//全国第四届磁轴承学术会议论文集, 上海, 2011.
SUN Zhe, XU Yang, SHI Lei. Modeling and simulation of electromagnetic bearing-flexible rotor system[C/CD] //Proceedings of the 4th China Symposium on Magnetic Bearings, Shanghai, 2011.
[4] PINTELON R. System identification:A frequency domain approach[M]. New York:IEEE Press, 2001.
[5] LJUNG L. System identification:Theory for the user [M]. NJ:Prentice Hall PTR, 1999.
[6] 周彤. 面向控制的系统辨识导论[M]. 北京:清华大学出版社, 2004.
ZHOU Tong. Introduction to control-oriented system identification[M]. Beijing:Tsinghua University Press, 2004.
[7] 杨作兴,赵雷,赵宏宾. 电磁轴承动刚度的自动测量[J].机械工程学报,2001, 37(3):25-29.
YANG Zuoxing, ZHAO Lei, ZHAO Hongbin. Automatic measurement of dynamic stiffness for active magnetic bearings[J]. Chinese Journal of Mechanical Engineering, 2001, 37(3):25-29.
[8] 赵晶晶,周燕,时振刚,等. 电磁轴承刚度阻尼自动测试[J]. 机械工程学报,2010, 46(20):48-52.
ZHAO Jingjing, ZHOU Yan, SHI Zhengang, et al. Automatic measurement of stiffness and damping of active magnetic bearings[J]. Journal of Mechanical Engineering, 2010, 46(20):48-52.
[9] 万金贵,汪希平,李文鹏,等. 电磁轴承支承的透平膨胀机转子系统模态分析[J]. 机械工程学报,2010, 46(19):86-91.
WAN Jingui, WANG Xiping, LI Wenpeng, et al. Modal analysis of turbo expander rotor supported by active magnetic bearings[J]. Journal of Mechanical Engineering, 2010, 46(19):86-91.
[10] JOH C Y, KIM C S. In-situ identification of active magnetic bearing system using directional frequency response functions[J]. Journal of Dynamic Systems, Measurement, and Control, 1996, 118:586-592.
[11] KIM S J, LEE C W. On-line identification of current andposition stiffness by LMS algorithm in active magnetic bearing system equipped with force transducers[J]. Mechanical Systems and Signal Processing, 1999, 13(5):681-690.
[12] SHI J, REVELL J. System identification and re-engineering controllers for a magnetic bearing system[C]//Proceedings of the 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering (TENCON’02), IEEE, 2002, 3:1591-1594.
[13] VAZQUEZ J A, MASLEN E H, AHN H J, et al. Model identification of a rotor with magnetic bearings[J]. Journal of Engineering for Gas Turbines and Power, 2003, 125(1):149-155.
[14] LEVI E C. Complex-curve fitting[J]. IRE Transactions on Automatic Control, 1959, 4:37-44.
[15] YANG Z, SANADA, S. Frequency domain subspace identification with aid of the w-operator[J]. Electrical Engineering in Japan, 2000, 132(1):46-56.
[16] MOHD-MOKHTAR R, WANG L. System identification of MIMO magnetic bearing via continuous time and frequency response data[C]//Proceedings of 2005 IEEE International Conference on Mechatronics (ICM’05), 2005:191-196.
[17] SUN Z, ZHAO J, SHI Z. Identification of magnetic bearing system using a novel subspace identification method[C/CD]//Proceedings of the 14th International Symposium on Magnetic Bearings. Linz, Austria, 2014.
[18] MOHD-MOKHTAR R, WANG L, QIN L, et al. Continuous time system identification of magnetic bearing systems using frequency response data[C]//Proceedings of the 5th Asian Control Conference, 2004, 3:2066-2072.
[19] WROBLEWSKI A, SAWICKI J T, PESCH A H. Rotor model updating and validation for an active magnetic bearing based high-speed machining spindle[J]. Journal of Engineering for Gas Turbines and Power, 2012, 134(12):122509.
[20] MADDEN J R, SAWICKI J T. Rotor model validation for an active magnetic bearing machining spindle using mu-synthesis approach[J]. Journal of Engineering for Gas Turbines and Power, 2012, 134(9):092501.
[21] SAWICKI J T, MADDEN J R. Identification of missing dynamics in rotor systems using robust control theory approach[C]//Proceedings of Vibration Problems ICOVP 2011:The 10th International Conference on Vibration Problems, Springer, 2011:581-587.
[22] SUN Z, HE Y, ZHAO J, et al. Identification of active magnetic bearing system with a flexible rotor[J]. Mechanical Systems and Signal Processing, 2014, 49:302-316.
[23] 刘延柱, 陈文良, 陈立群. 振动力学[M]. 北京:高等教育出版社, 1998.
LIU Yanzhu, CHEN Wenliang, CHEN Liqun. Vibration mechanics[M]. Beijing:Higher Education Press, 1998.
[24] THOMSON W T. Theory of vibration with applications[M]. Englewood Cliffs:Prentice Hall, 1992.
[25] SUN Z, ZHAO J, SHI Z, YU S. Identification of flexible rotor suspended by magnetic bearings[C/CD]// Proceedings of 2013 21st International Conference on Nuclear Engineering, 2013.
Outlines

/