可控磁路式永磁悬浮系统的鲁棒控制
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摘要
为了实现磁悬浮系统的低功耗运行,一种可控磁路式永磁悬浮系统被提出,并基于有限元软件分析了该系统的可行性,建立该系统的动力学模型。针对其强耦合、非线性的特点,为了实现该系统的稳定运行,基于LMI的H_∞鲁棒控制理论,建立了鲁棒控制模型,设计状态反馈γ-次优H_∞鲁棒控制器。采用数值仿真与试验相结合的方式分析验证系统的悬浮特性与控制器效果,结果表明:该系统可以实现稳定的低功耗悬浮运行,可以实现对位移信号的跟踪和对外扰力的抑制;解决由于系统模型参数不确定以及外扰等因素引起的系统不稳定问题,保证了系统的鲁棒性。
In order to reduce the power consumption of magnetic suspension system, a magnetic suspension system using variable the flux path control method was put forwarded. Its feasibility was verified by using FEA, and a dynamical model was developed. To stabilize the system, a robust control model was established and a corresponding status feedback γ-suboptimal H_∞ robust controller was designed according to the H_∞ robust control theory based on the LMI. The suspension characteristics were analyzed using numerical simulations and experiments. The results show that the suspension system can realize the energy saving of the suspension, track the input displacement signal, restrain disturbance forces, solve the problem of system instability caused by uncertain parameters and disturbances and ensure the robustness of system.
In order to reduce the power consumption of magnetic suspension system, a magnetic suspension system using variable the flux path control method was put forwarded. Its feasibility was verified by using FEA, and a dynamical model was developed. To stabilize the system, a robust control model was established and a corresponding status feedback γ-suboptimal H_∞ robust controller was designed according to the H_∞ robust control theory based on the LMI. The suspension characteristics were analyzed using numerical simulations and experiments. The results show that the suspension system can realize the energy saving of the suspension, track the input displacement signal, restrain disturbance forces, solve the problem of system instability caused by uncertain parameters and disturbances and ensure the robustness of system.
引文
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[ 2 ] OKA K.Noncontact manipulation with permanent magnet motion control[C]//Proceeding of the 4th International Symposium on Linear Drivers for Industry Applications.Birmingham:CDROM,2003.
[ 3 ] 胡汉辉,谭青.磁悬浮平台的解耦模糊PID控制[J].中南大学学报(自然科学版),2009,40(4):963-968.HU Hanhui,TAN Qing.Decoupling fuzzy PID control for magnetic suspended table [J].Journal of Central South University (Science and Technology),2009,40(4):963-968.
[ 4 ] 刘恒坤,郝阿明,常文森.磁悬浮系统的非线性PID控制[J].控制工程,2007,14(6):653-656.LIU Hengkun,HAO Aming,CHANG Wensen.Nonlinear PID control of magnetic suspension systems[J].Control Eng ineering of China,2007,14(6):653-656.
[ 5 ] 陈龙,陈建军,张雪峰.不确定结构振动的保成本鲁棒PID控制[J].振动与冲击,2007,26(6):79-89.CHEN Long,CHEN Jianjun,ZHANG Xuefeng.Guaranteed cost robust PID control for uncertain structure vibration [J].Journal of Vibration and Shock,2007,26(6):79-89.
[ 6 ] GUROL S,BALDI R,BEVER D.Status of the general atomics lowspeed urban maglev technology development program[C]// The 18th International Conference on Maglev Systems and Linear Drivers.Shanghai:ASME,2004.
[ 7 ] 孙兴伟,夏鹏澎,金俊杰,等.可控磁路式永磁悬浮系统的模糊鲁棒控制[J].组合机床与自动化加工技术,2016(2):76-78.SUN Xingwei,XIA Pengpeng,JIN Junjie,et al.Fuzzy robust control of permanent magnetic suspension system using variable flux path control method [J].Modular Machine Tool & Automatic Manufacturing Technique,2016(2):76-78.
[ 8 ] 刘合祥,胡敏强,余海涛,等.基于磁悬浮小车系统的自适应模糊滑模-PID混合控制方案[J].电工技术学报,2013,28(6):94-100.LIU Hexiang,HU Minqiang,YU Haitao,et al.Scheme of variable universe fuzzy sliding mode adaptive and PID hybrid controller for maglev vehicle [J].Transactions of China Electrotechnical Society,2013,28(6):94-100.
[ 9 ] 李云钢,陈慧星,张鼎.电磁永磁混合磁悬浮系统自适应控制方法研究[J].机车电传动,2007(2):33-35.LI Yungang,CHEN Huixing,ZHANG Ding.Research on adaptive control method of hybrid maglev system[J].Electric Drive for Locomotives,2007(2):33-35.
[10] 刘恒坤,常文森,施晓红.磁悬浮系统的降阶自适应控制[J].控制工程,2006,13(5):410-412.LIU Hengkun,CHANG Wensen,SHI Xiaohong.Adaptive Control of rank-reduced magnetic suspension system[J].Control Engineering of China,2006,13(5):410-412.
[11] 申恺,孙纯祥.主动磁悬浮系统的MATLAB仿真研究[J].工业仪表与自动化装置,2008(4):7-10.SHEN Kai,SUN Chunxiang.Research on an active magnetic suspension system with MATLAB simulation[J].Industrial Instrumentation & Automation,2008(4):7-10.
[12] 周瑾,倪佐僖.基于不平衡响应的磁悬浮轴承刚度阻尼辨识方法研究[J].振动与冲击,2013,23(3):29-34.ZHOU Jin,NI Zuoxi.Identification method for stiffness and damping of magnetic bearings on rotor unbalance responses[J].Journal of Vibration and Shock,2013,23(3):29-34.