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电磁悬浮系统的改进线性自抗扰控制方法

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单点电磁悬浮系统是常导电磁磁浮列车悬浮系统的关键控制单元.针对单点电磁悬浮系统因强干扰影响导致控制性能下降的问题,提出了一种改进型线性自抗扰控制(LADRC)方法.首先,基于电磁悬浮结构及原理建立了单点悬浮系统线性化模型,并对系统稳定性进行了分析.其次,基于自抗扰控制方法设计位置外环控制器以及基于PI调节器的电流内环控制器,对线性扩张状态观测器进行改进,设计两级级联的线性扩张状态观测器提高扰动估计精确度及速度,进而提高LADRC中扩张状态观测器对系统扰动的估计能力,并在频域上分析了改进型LADRC扰动估计性能和抑制能力的优越性.最后,搭建实验环境,对改进线性自抗扰控制方法的有效性进行验证.实验结果表明,所提的改进型LADRC不仅具有良好的位置跟踪性能,同时相比传统LADRC具有更强的抗扰动能力.
Improved linear active disturbance rejection control method for electromagnetic levitation system
The single-point electromagnetic levitation system is the primary control unit of the electromag-netic suspension maglev trains.Aiming at the problem of system control performance degradation due to the influence of strong disturbances in single-point electromagnetic suspension systems,an improved line-ar active disturbance rejection control(LADRC)method was proposed.Firstly,based on the structure and principle of electromagnetic levitation,the linear model of the single-point levitation system was es-tablished and the stability of the system was analyzed.Secondly,the position outer loop controller based on active disturbance rejection control method and the current inner loop controller based on PI regulator were designed.After that,the linear extended state observer was improved,and a two-stage cascaded linear extended state observer was designed to improve the accuracy and speed of disturbance estimation,so as to improve the disturbance estimation ability of the extended state observer in the system.The ad-vantages of the improved LADRC in disturbance estimation performance and inhibition ability were ana-lyzed in the frequency domain.Finally,an experimental environment was constructed to test effectiveness of the improved linear active disturbance rejection control method.The experimental results indicate that the proposed improved LADRC not only has good position tracking performance,but also has stronger an-ti-interference capability compared with the conventional LADRC.

single-point electromagnetic levitation systemlinear active disturbance rejection controlcascaded extended state observerobservation precisionfrequency domain analysisdisturbance rejec-tion performance

杨杰、杨星、高涛、胡海林

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江西理工大学 电气工程与自动化学院,江西 赣州 341000

江西理工大学 永磁磁浮技术与轨道交通研究院,江西 赣州 341000

江西省磁悬浮技术重点实验室,江西 赣州 341000

单点电磁悬浮系统 线性自抗扰控制 级联扩张状态观测器 观测精确度 频域分析 抗扰性能

国家自然科学基金江西省研究生创新专项资金

62063009YC2020-B156

2024

10.15938/j.emc.2024.01.013

电机与控制学报
哈尔滨理工大学

电机与控制学报

CSTPCD北大核心
影响因子：1.014
ISSN：1007-449X
年,卷(期)：2024.28(1)
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