摘要
实现被控对象对目标位置的稳定快速跟踪是磁悬浮的关键技术之一。针对悬浮小球的单自由度控制问题,采用时域分析方法,完成了PD控制器的参数设计。在机械受力和电磁电路分析的基础上建立系统的动态数学模型,然后基于劳斯稳定判据测算比例微分参数的基本范围,最后根据给定的性能指标要求完成控制参数的整定。仿真分析表明,所得控制系统能在0.02s内实现小球向上5mm的位置跟踪,并且对内部控制电流的衰减和外部的不确定直接位置干扰具有较强的抵抗能力,所设计的系统具有良好的动态性能和鲁棒性。
Stable and fast racking of the target position is one of the key problems in magnetic levitation system. To realize the single freedom control for the suspension iron ball, the parameter design of the PD controller was completed by using time domain theory. On the basis of mechanical and electromagnetic analysis, the dynamic mathematical model for the magnetic levitation system was established. Then the stable range of proportion parameter and differential parameter were obtained by using Routh stability criterion.Finally, the control parameters were obtained by calculated according to the given performance and constraint.The simulation results show that the control system designed can correctly track the target position, 5 mm up, in 0.02 second. And the system has stronger ability against the attenuation of internal control current and the uncertain position disturbance external. The designed system has good performance in both response and robustness.
作者
薛鹏
李罡
韩家乐
XUE Peng;LI Gang;HAN Jiale(College of Electrical Information Engineering,Henan University of Engineering,Zhengzhou 451191,China)
出处
《河南工程学院学报（自然科学版）》
2019年第3期32-35,40,共5页
Journal of Henan University of Engineering：Natural Science Edition
基金
河南省教育厅基金项目(18B413001)
关键词
磁悬浮
反馈控制
目标跟踪
鲁棒性
magnetic levitation system
feedback control
position tracking
robustness
