摘要
针对全格式无模型自适应控制(FFDL-MFAC)算法参数难以整定的问题,提出了一种基于增量式PD控制算法的FFDL-MFAC算法参数整定方法。首先通过增量式PD控制算法和FFDL-MFAC算法的相似性,得到PD控制算法的参数KP,KD与FFDL-MFAC算法参数之间的关系,简化FFDL-MFAC算法参数整定的过程;然后以复杂的单自由度磁悬浮系统作为受控对象,验证通过PD算法整定的FFDL-MFAC参数的有效性。仿真结果表明通过PD算法整定的全格式无模型自适应控制器参数能够使被控对象实现稳定悬浮,且加入扰动后可以迅速恢复稳定状态;试验结果表明PD算法整定的全格式无模型自适应控制器相比PD控制器具有更快的响应速度和更强的鲁棒性。
In order to solve the problem that the parameters of full-format dynamic linearization model-free adaptive control algorithm are difficult to tune,a FFDL-MFAC algorithm parameter tuning method based on incremental PD control algorithm is presented.Firstly,by comparing the similarity between incremental PD control algorithm and FFDL-MFAC algorithm,the relationship between parameters KP and KD of PD control algorithm and parameters of FFDL-MFAC algorithm is obtained,which simplifies the parameter tuning process of FFDL-MFAC algorithm.Then,taking complex single degree of freedom magnetic levitation system as a controlled object,the effectiveness of FFDL-MFAC parameters tuned by PD algorithm is verified.The simulation results show that the parameters of FFDL-MFAC controller tuned by PD algorithm can make the controlled object stably levitate,and the stable state can be quickly restored after adding disturbance.The experimental results show that the FFDL-MFAC controller tuned by PD algorithm has faster response speed and stronger robustness than PD controller.
作者
蔡忠侯
钟志贤
李先瑄
祁雁英
段一戬
CAI Zhonghou;ZHONG Zhixian;LI Xianxuan;QI Yanying;DUAN Yijian(College of Mechanical and Control Engineering, Guilin University of Technology, Guilin 541006, China)
出处
《轴承》
北大核心
2022年第3期57-62,共6页
Bearing
基金
国家自然科学基金资助项目(51565009)
广西自然科学基金资助项目(2015GXNSFAA139272)
广西嵌入式技术与智能系统重点实验室基金资助项目(2020-2-12)。
关键词
滑动轴承
磁力轴承
控制算法
自适应控制
响应时间
鲁棒性
plain bearing
magnetic bearing
control algorithm
adaptive control
response time
robustness
