摘要
电磁永磁混合悬浮技术比常导磁悬浮技术具有显著的节能优势。然而,由于永磁材料存在非线性特性,且实际工程应用中时常面临扰动突变与磁场变化等现象,因而提高了混合悬浮系统的抗扰动能力与控制精度要求。以单点磁-电混合悬浮球为研究对象,依据单自由度的简化结构,构建混合悬浮球的动力学模型并分析混合悬浮系统处于欠稳定状态。针对混合悬浮球系统的非线性、悬浮精度要求高与悬浮参数摄动等特点,设计基于Levant微分器的自抗扰控制算法,将Levant微分器安排在过渡过程可实现兼顾响应的快速性与滤波能力的同时简化控制器结构,一定程度上降低了调参难度。分析并验证基于Levant微分器的自抗扰控制算法在稳定性、冗余性、适应性和鲁棒性方面的优越性。仿真结果表明:相比于PID算法,基于Levant微分器的自抗扰控制算法可实现在超调量较小的情况下具备较快的响应速度、较强的抗扰动能力、适应性以及鲁棒性,由此为未来实现“永磁材料为基础,电磁控制为手段”的工程实践提供理论基础,进一步促进将自抗扰控制算法实践于混合悬浮技术的工程化应用中。
As compared to the conventional magnetic suspension technology,the hybridelectromagnetic and permanent-magnet suspension technology has significant advantages in energy saving.However,the phenomena of disturbance mutation and the variations of magnetic field occurs due to its non-linear characteristics,which raises the demands of anti-disturbance ability and control accuracy of hybrid suspension system.The hybridsingle-point permanent and electronic magnetic suspension ballswere studied.The dynamic model of the hybrid levitation balls was designed according to the simplified structurein unstable statewith single degree of freedom.By considering nonlinear characteristics and high levitation precision of hybrid magnetic suspension system and the perturbation of suspension parameters,the active disturbance-resistantcontrol algorithm was designedbased on the Levant differentiator.The Levant differentiator arranged in transition process hasrapid response and excellent filtering ability,which could reduce the difficulty of parameter adjustment to a certain extent.The advantages of ADRC in stability,redundancy adaptability and robustness were analyzed and verified.The simulation results show that as compared to the PID algorithm,the system controlled by ADRC algorithm has superior anti-disturbance ability,adaptability and robustness,which provides a theoretical reference for the future engineering practice of“Based on the permanent magnet material,taking electromagnetic control as control method”and further promotes the engineering application of ADRC algorithm in hybrid suspension technology.
作者
苏芷玄
杨杰
彭月
彭飞
SU Zhixuan;YANG Jie;PENG Yue;PENG Fei(Institute of Permanent Maglev and Railway Technology,Jiangxi University of Science and Technology,Ganzhou 341000,China;Key Laboratory of Maglev Technology of Jiangxi Province,Ganzhou 341000,China;Institute of Automotive Engineering Beijing Polytechnic,Beijing 100176,China)
出处
《铁道科学与工程学报》
EI
CAS
CSCD
北大核心
2022年第4期864-873,共10页
Journal of Railway Science and Engineering
基金
国家自然科学基金资助项目(62063009)。
关键词
混合悬浮
ADRC
磁悬浮
轨道交通
hybrid suspension
ADRC
magnetic suspension
rail transit
