摘要
磁悬浮固有系统是非线性的,也是本质不稳定的,其稳定性设计比较复杂,特别是在受到较大干扰和对象参数发生较大变化时,系统容易失去稳定并发散.理论分析与试验表明,这种现象的数学解释就是系统出现了HOPF分岔.为此,本文提出了一种用HOPF分岔规律调整非线性系统PID控制器参数的自适应设计方法,通过辨识干扰或者对象参数的变化,自动调整控制参数,使闭环系统远离HOPF分岔点,从而继续保持稳定.以悬浮质量突变为例的仿真表明,由此整定悬浮控制比例增益参数,可使磁悬浮系统获得较大的状态稳定范围,并有效回避自激振动.
Maglev system is nonlinear and unstable essentially. It is complicated to design a stable system, especially when the system is under large-scale disturbance and parameter variance, which make the system lose stability and emanation easily. Theoretical analysis and experiments show that this phenomenon is due to the HOPF bifurcation in the mathematical model. This paper gives an adaptive control law, which adjusts PID control parameters of the nonlinear system according to the HOPF bifurcation. Through discrimination of the disturbance and object parameters, the controller adjusts the feedback coefficients to make the system far from the HOPF bifurcation point and maintain the stability of the magelv system. Simulation result by changing mass suddenly indicates that adjusting proportion gain parameter using this method can magnify the state stability range of the maglev system and reject the self-excited vibration efficiently.
出处
《动力学与控制学报》
2006年第1期54-58,共5页
Journal of Dynamics and Control
