摘要
磁悬浮作为一种高新技术,具有无摩擦,低功耗和无污染等优点,已经在各个领域中被广泛应用。针对磁悬浮因外部扰动和参数变化时引起的超调量大等问题,通过引入线性自抗扰控制(Linear active disturbance rejection control,LADRC)算法来解决上述难题。以单点磁悬浮球作为研究对象,由于该磁悬浮球系统具有高度非线性、时滞性和不确定性等特点,因此为实现其悬浮球的稳定悬浮和获取系统满意的动态性能,用LADRC算法来降低对被控对象的依赖程度,建立悬浮球的非线性数学模型,并进行算法的优化及推导。为更好说明所提算法的新颖性,分别利用滑模变控制(Sliding mode control,SMC),PID和LADRC进行比较。仿真结果表明:虽然PID和SMC都能实现悬浮球的稳定悬浮,但是却具有较大的超调量,且这种动态平衡极易被外部扰动所打破。相反,只有LADRC算法能满足两者的不足,不仅具有较快的响应速度和较小的超调量等众多优点,而且其抗干扰能力都要远大于PID和SMC。并且系统的外部扰动值越大,其抗干扰效果就更明显。另外将不同参考信号(正弦和方波信号)作为输入时,LADRC算法的跟踪效果最佳,其次是SMC,最后是PID,所以LADRC算法也具有良好的鲁棒性和适用性。同时这也可进一步促进LADRC算法在磁悬浮技术中的工程应用。
As a new high-tech, magnetic levitation has the advantages of no friction, low power consumption and no pollution, which has been widely used in various fields. Aiming at the problems of large overshoot caused by external disturbances and parameter changes, the linear active disturbance rejection control(LADRC) algorithm was introduced to solve the above problems. The single-point magnetic levitation ball was taken as the research object. Due to the high nonlinearity, time delay and uncertainty of the magnetic levitation ball system, it is necessary to realize the stable suspension of the levitation ball and obtain the satisfactory dynamic performance of the system. First, the LADRC algorithm was used to reduce the degree of dependence on the controlled object.Second, the nonlinear mathematical model of the suspension ball was established, and the algorithm was optimized and deduced. Finally, in order to better illustrate the novelty of the proposed algorithm, the sliding mode variable Control(Sliding mode control, SMC), PID and LADRC were compared. The simulation results show that although both PID and SMC can achieve stable suspension of the suspension ball, they have a large overshoot, and this dynamic balance is easily broken by external disturbances. On the contrary, only the LADRC algorithm can satisfy the deficiencies of both of them. It not only has many advantages such as faster response speed and smaller overshoot, but also its anti-interference ability is much greater than that of PID and SMC. The larger the external disturbance value of the system is, the more obvious its anti-interference effect is. In addition,when different reference signals(sine and square wave signals) are used as input, the tracking effect of LADRC algorithm is the best, followed by SMC, and finally PID, so LADRC algorithm also has good robustness and applicability. At the same time, it can further promote the engineering application of LADRC algorithm in magnetic levitation technology.
作者
余建国
木柏林
YU Jianguo;MU Bolin(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)
出处
《铁道科学与工程学报》
EI
CAS
CSCD
北大核心
2022年第12期3477-3483,共7页
Journal of Railway Science and Engineering
基金
江西省高校人文社会科学研究基金资助项目(GL1544)。
