Využití mikropočítačů pro řízení systémů s rychlou odezvou v reálném čase

Abstract

This doctoral thesis deals with the use of the CompactRIO control system with the programmable gate array for the real-time active vibration control applied to the test device. Vibrations result from instability called "oil whirl". This means that the shaft that is supported by the journal bearing rotates not only around its axis but also rotates in the bearing bushing. In this thesis, first, a test device for active vibration control is described. The description of the original control system and subsequent deployment of the CompactRIO control system is provided. The simulation model of the bearing, together with the stability analysis and the simulation model with two bearings supporting the shaft, is also explained. The following section deals with a control algorithm with a second-order auto-tunable bandpass filter to improve the control. With this filter, the control is only performed in the frequency band in which instability occurs. The functionality of the filter is verified both analytically and experimentally in the control system. Another filter to fine-tune control results is the Kalman filter. This filter was applied due to the high process noise at speed measurement. Speed measurement is important because the frequency at which the bandpass filter is tuned is proportional to the rotation frequency. The last part of the thesis describes an experiment where mass is added to the rotor. It is necessary to verify the effect on the quality of the control under gravity load. Experiments are performed for all control variants, with a proportional controller, a bandpass filter and a combination of a proportional controller and a bandpass filter.