摘要
为实现磁悬浮飞轮控制系统无状态观测器下的全状态反馈控制,将最小状态空间增广至非最小状态空间,增广后的状态变量可由控制对象的输入量和输出量直接计算得到。针对跟踪指令为零时前置滤波器失效的问题,在非最小状态空间的基础上引入跟踪指令信号修正,使前置滤波器能正常工作。在相同主导特征值的条件下与最小状态控制PID控制器进行仿真对比,结果表明:即使偏置电流的扰动达到标称值的60%,非最小状态空间下的闭环系统仍能保持镇定,并且该方法对偏置电流扰动的适应性更好;引入跟踪指令信号修正后,有效消除了闭环系统中存在的有限零点,验证了该方法的有效性。
In order to realize the full state feedback control of magnetic levitation flywheel control system without state observer,the minimum state space is augmented to non-minimal state space,and the augmented state variables can be computed directly from input and output of controlled object.To address the issue of pre-filter failure when the tracking command is zero,a tracking command signal correction is introduced based on non-minimal state space to enable normal operation of pre-filter.The simulation comparisons are conducted with PID controller based on minimum state control under same dominant characteristic values,and the results show that the closed-loop system under non-minimal state space can remain stable even if bias current disturbance reaching 60%of nominal value,and the proposed method has better adaptability to bias current disturbance;the finite zeros in closed-loop system are eliminated effectively after introducing tracking command signal correction,verifying the effectiveness of the method.
作者
向彦霖
张立
XIANG Yanlin;ZHANG Li(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China)
出处
《轴承》
北大核心
2024年第7期95-98,105,共5页
Bearing
