摘要
根据电磁悬架系统物理简化模型推导了单轴电磁悬架系统的非线性动态方程及线性动态方程的控制器设计。提出了电磁悬架系统受到随机白噪声干扰激励下,悬架控制器增益的选择方法。选取次最优控制器增益作为控制方法,研究了悬架的位移响应均方值最小和系统的能量消耗最小时,状态反馈控制器的设计。将次最优控制器增益与由线性二次最优控制理论得出的状态反馈增益进行了比较,研究表明,电磁悬架可达到激波衰减和能耗的次最优,性能优于被动悬架系统,并通过实例进行了验证。
The model and control of a single axis electromagnetic suspension for vibration isolation was set up. In order to study the vibration isolation characteristics, a set of linearized dynamic equations were used. The design of state feedback controllers that minimize the mean square absolute displacement response of the suspension and minimize a measure of the system energy dissipation has been considered. In both cases the suspension system was assume to be excited by random white noise disturbances. It is shown that near optimum disturbance attenuation and energy dissipation could be achieved without current feedback. The suboptimum controller gains with the state feedback gains obtained by using linear quadratic optimal control theory have been compared. The result showed that the disturbance attenuation characteristics of the electromagnetic suspension could be made superior to that of a passive isolation system. Experimental results were also presented.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第4期9-14,共6页
Transactions of the Chinese Society for Agricultural Machinery
关键词
车辆
电磁悬架
控制器增益
最优控制
Vehicle, Electromagnetic suspension, Controller gain, Optimal control
