本文研究用于混合励磁磁通切换直线磁悬浮电动机(HEFSLMSM)磁悬浮列车。由于原自抗扰控制(ADRC)算法的扩张状态观测器是基于传统fal函数设计而易产生抖振、收敛速度慢及超调量过大等现象。为了提高悬浮系统的性能,提出了一种改进自抗扰控制策略。 根据HEFSLMSM特有原理和运行机制,建立了其数学模型,推导出电机励磁回路电压方程、磁悬浮力方程和运动方程,设计出满足“小误差、大增益,大误差、小增益,连续光滑,处处可导,原点对称”的sfal函数,取代原有fal函数。建立改进ADRC的仿真模型,并通过仿真试验与ADRC和比例积分微分控制器进行了比较。仿真结果表明,采用改进 ADRC的HEFSLMSM磁悬浮系统在动态性能方面具有明显优势,能有效抑制各种不确定的扰动,从而保证了系统的稳定性和精度。

This paper investigated a hybrid excitation flux switching linear magnetic suspension motor (HEFSLMSM), which is used in maglev trains. The extended state observer of the original active disturbance rejection control (ADRC) algorithm, designed using the traditional fal function, often leads to issues such as chattering, slow convergence speed and excessive overshoot. To improve the performance of suspension system, an improved ADRC strategy was proposed. Based on the special principle and operation mechanism of HEFSLMSM, the mathematical model of the system was derived, including the motor excitation circuit voltage equation, the magnetic suspension force equation and motion equation. A new sfal function, which met the criteria of “small error, large gain, large error, small gain, continuous smoothness, differentiability everywhere, symmetry at the origin,” was designed to replace the original fal function. An improved ADRC simulation model was established and compared with ADRC and proportional integral devivative controllers through simulation experiments. The simulation results showed that the HEFSLMSM maglev system using the improved ADRC exhibited significant advantages in dynamic performance, effectively suppressing various uncertain disturbances and ensuring the system stability and accuracy.