磁悬浮系统的自抗扰控制策略研究
发布时间：2018-12-11 03:39
【摘要】：磁悬浮系统的悬浮体与支撑体之间没有任何接触,克服摩擦产生的速度限制与能量消耗等方面的问题,具有无污染、无噪声、可以在无尘等特殊环境下工作等特点,使其在交通运输业、航空航天、工业等领域都得到了广泛的应用。但是,磁悬浮系统具有不确定性、非线性以及对实时性要求较高等特点,给其控制器的设计增加了难度。该课题以单自由度的磁悬浮球系统为研究对象,并通过对磁悬浮控制系统的多种控制方法进行比较分析,选择自抗扰控制来实现磁悬浮球控制系统的设计。针对自抗扰控制的控制作用采用的非线性函数可能会引起控制作用过大进而导致在干扰作用下超调较大的问题,设计了带权因子或权函数的线性/非线性自抗扰复合控制器。其控制作用是线性与非线性状态误差反馈控制律通过权因子或权函数结合起来的一种复合控制律,即通过线性状态误差反馈控制律的引入,减小非线性状态误差反馈控制律在总控制作用中的权重,避免非线性状态误差反馈控制律由于非线性函数可能导致控制作用过大的问题。根据线性/非线性自抗扰复合控制中复合控制律的结合方式不同,线性/非线性自抗扰复合控制分为带权因子与带权函数两种。带权因子的线性/非线性自抗扰复合控制主要从系统的快速性角度出发,避免控制作用因采用非线性函数可能导致控制作用过大进而引起干扰作用下超调较大的问题。考虑到采用权因子的复合控制律中的线性与非线性状态误差反馈控制律的权重不会随外界系统变化而改变,将权因子替换为可以随着系统偏差变化而改变的权函数。带权函数的复合控制律会随着系统偏差的变化而改变复合控制律中线性与非线性状态误差反馈控制律的权重,对于扰动量复杂多变的系统其抗干扰能力会更强。仿真结果表明:带权因子或权函数的线性/非线性自抗扰复合控制比传统自抗扰控制的快速性好、抗干扰能力强;比传统PID控制的抗干扰能力强。并通过实验验证了带权因子的线性/非线性自抗扰复合控制比传统PID控制的抗干扰能力强、稳态精度高。
[Abstract]:There is no contact between the suspension and the support of the magnetic suspension system. It overcomes the problems of velocity limitation and energy consumption caused by friction. It has the characteristics of no pollution, no noise, no dust, and so on. It has been widely used in transportation, aerospace, industry and other fields. However, the design of maglev system is more difficult because of its uncertainty, nonlinearity and high requirement of real time. In this paper, the single degree of freedom magnetic levitation ball system is taken as the research object, and the design of magnetic levitation ball control system is realized by comparing and analyzing various control methods of magnetic levitation control system, and choosing auto disturbance rejection control to realize the design of magnetic levitation ball control system. Aiming at the problem that the nonlinear function used in the control of ADRC may lead to the overshoot caused by the disturbance, a linear / nonlinear ADRC with weight factor or weight function is designed. Its control function is a kind of compound control law which combines linear and nonlinear state error feedback control law through weight factor or weight function, that is, through the introduction of linear state error feedback control law. The weight of the nonlinear state error feedback control law in the total control is reduced to avoid the problem that the nonlinear state error feedback control law may cause too much control action because of the nonlinear function. According to the different ways of combining the compound control law in linear / nonlinear ADRC, the linear / nonlinear ADRC compound control can be divided into two kinds: weighted factor and weighted function. The linear / nonlinear active disturbance rejection complex control with weight factor is mainly based on the point of view of the system's rapidity to avoid the problem that the control action may be too large and overshoot caused by the interference by using the nonlinear function. Considering that the weight of the linear and nonlinear state error feedback control law in the compound control law with weight factor will not change with the change of the external system, the weight factor can be replaced by the weight function which can change with the deviation of the system. The weight function of compound control law will change the weight of linear and nonlinear state error feedback control law with the variation of system deviation. The simulation results show that the linear / nonlinear active disturbance rejection composite control with weight factor or weight function is faster than the traditional ADRC and has better anti-jamming ability than the traditional PID control. The experimental results show that the linear / nonlinear ADRC composite control has better anti-jamming ability and higher steady-state precision than the traditional PID control.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
[Abstract]:There is no contact between the suspension and the support of the magnetic suspension system. It overcomes the problems of velocity limitation and energy consumption caused by friction. It has the characteristics of no pollution, no noise, no dust, and so on. It has been widely used in transportation, aerospace, industry and other fields. However, the design of maglev system is more difficult because of its uncertainty, nonlinearity and high requirement of real time. In this paper, the single degree of freedom magnetic levitation ball system is taken as the research object, and the design of magnetic levitation ball control system is realized by comparing and analyzing various control methods of magnetic levitation control system, and choosing auto disturbance rejection control to realize the design of magnetic levitation ball control system. Aiming at the problem that the nonlinear function used in the control of ADRC may lead to the overshoot caused by the disturbance, a linear / nonlinear ADRC with weight factor or weight function is designed. Its control function is a kind of compound control law which combines linear and nonlinear state error feedback control law through weight factor or weight function, that is, through the introduction of linear state error feedback control law. The weight of the nonlinear state error feedback control law in the total control is reduced to avoid the problem that the nonlinear state error feedback control law may cause too much control action because of the nonlinear function. According to the different ways of combining the compound control law in linear / nonlinear ADRC, the linear / nonlinear ADRC compound control can be divided into two kinds: weighted factor and weighted function. The linear / nonlinear active disturbance rejection complex control with weight factor is mainly based on the point of view of the system's rapidity to avoid the problem that the control action may be too large and overshoot caused by the interference by using the nonlinear function. Considering that the weight of the linear and nonlinear state error feedback control law in the compound control law with weight factor will not change with the change of the external system, the weight factor can be replaced by the weight function which can change with the deviation of the system. The weight function of compound control law will change the weight of linear and nonlinear state error feedback control law with the variation of system deviation. The simulation results show that the linear / nonlinear active disturbance rejection composite control with weight factor or weight function is faster than the traditional ADRC and has better anti-jamming ability than the traditional PID control. The experimental results show that the linear / nonlinear ADRC composite control has better anti-jamming ability and higher steady-state precision than the traditional PID control.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
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