摘要
针对可变磁路式永磁悬浮系统鲁棒性较差的问题,提出了一种基于辅助模型的改进线性自抗扰控制(LADRC)方法.阐述了悬浮系统的工作原理,建立了动力学模型,设计了改进LADRC控制器,分析比较了改进LADRC、PID和传统LADRC控制效果.仿真结果表明:输入0.1 mm阶跃外扰时,与传统LADRC和PID控制比较,采用改进LADRC系统响应速度最快且无超调量;输入0.5 N外扰力时,采用改进LADRC系统气隙变化量最小且调节时间最短;与PID相比,采用LADRC方法可提高可变磁路式永磁悬浮系统抗扰能力.
Aiming at the problem of poor robustness of permanent magnetic levitation system with variable flux path,an improved linear active disturbance rejection control(LADRC)method based on auxiliary model was proposed.The working principle of the levitation system was introduced,the dynamic model was established,and an improved LADRC controller was designed.Finally,the control effects of improved LADRC,PID and traditional LADRC were analyzed and compared.The simulation results show that the improved LADRC has the fastest response speed and no overshoot compared with the traditional LADRC and PID when 0.1 mm step disturbance was input.Besides,the air gap variation and the adjustment time of the system with improved LADRC are minimized when 0.5 N disturbance force was input.Compared with PID,the LADRC can improve the anti-disturbance ability of permanent magnetic levitation system with variable flux path.
作者
李强
张鹏飞
赵川
徐方超
金俊杰
孙凤
LI Qiang;ZHANG Pengfei;ZHAO Chuan;XU Fangchao;JIN Junjie;SUN Feng(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)
出处
《沈阳工业大学学报》
CAS
北大核心
2023年第5期534-539,共6页
Journal of Shenyang University of Technology
基金
国家自然科学基金项目(52005345,52005344)
国家重点研发计划项目(2020YFC2006701)
辽宁省教育厅项目(LFGD2020002)
辽宁省“揭榜挂帅”科技重大专项(2022JH1/10400027).
关键词
永磁悬浮
鲁棒性
工作原理
动力学模型
控制器
超调量
响应速度
抗扰能力
permanent magnetic levitation
robustness
working principle
dynamic model
controller
overshoot
response speed
anti-disturbance ability
