[关键词]
[摘要]
电励磁直线同步电机(EELSM)磁悬浮控制系统能够实现直接驱动和无摩擦进给,有效提高伺服系统的稳态及其动态性能,考虑EELSM系统运行中受到不确定性扰动的问题提出自抗扰控制(ADRC)策略。根据EELSM的特殊结构和工作机理,推导EELSM系统的数学模型,包括励磁回路的电压方程、磁悬浮力方程和运动方程。设计三阶非线性自抗扰控制器(NLADRC),将悬浮方向上的外界扰动作为系统的“总扰动”,对总扰动进行估计和补偿,可以有效提高系统抗扰能力以及跟踪精度。由于NLADRC存在多参数的整定、以及物理意义不明确等问题,总结出非线性函数参数整定的规律。最后,建立ADRC系统的仿真模型。仿真结果表明,通过与PI控制器对比,采用ADRC的EELSM伺服系统具有良好的动态性能,并且能有效抑制扰动。
[Key word]
[Abstract]
Electrically excited linear synchronous motor (EELSM) maglev control system can realize direct drive and frictionless feed, effectively improving the steady state and dynamic performance of servo system. Considering the uncertainty disturbance of EELSM system, the active disturbance rejection control (ADRC) strategy is proposed. According to the special structure and working mechanism of EELSM, the mathematical model of EELSM system is derived, including the voltage equation, magnetic levitation force equation and motion equation of the excitation circuit. The third-order nonlinear active disturbance rejection control (NLADRC) is designed. Taking the outside disturbances above the maglev system as total disturbance, the total disturbance is estimated and compensated, and the system anti-interference ability and the tracking accuracy can be effectively improved. Considering that the NLADRC has multiple parameters tuning and the physical meaning is not clear, the law of the nonlinear function parameters tuning is summarized. Finally, the simulation model of the ADRC system is established. The simulation results show that the EELSM servo system with ADRC has good dynamic performance and can effectively suppress disturbance in comparison with PI controller.
[中图分类号]
[基金项目]
国家自然科学基金项目(51575363)