永磁电磁混合型磁浮球的改进滑模控制方法  

Improved Sliding Mode Control Method for Permanent Magnet Electromagnetic Hybrid Magnetic Levitation Ball

作　　者：杨杰[1,2,3] 秦耀 汪永壮[1,2] 张振利 YANG Jie;QIN Yao;WANG Yongzhuang;ZHANG Zhenli(Institute of Permanent Magnetic Levitation and Rail Transit Research,Jiangxi University of Science and Technology,Ganzhou 341000,China;Jiangxi Key Laboratory of Maglev Technology,Ganzhou 341000,China;Ganjiang Innovation Academy,Chinese Academy of Sciences,Ganzhou 341000,China)

机构地区：[1]江西理工大学永磁磁浮与轨道交通研究院,江西赣州341000 [2]江西省磁悬浮技术重点实验室,江西赣州341000 [3]中国科学院赣江创新研究院,江西赣州341000

出　　处：《湖南大学学报（自然科学版）》2023年第4期200-209,共10页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(62063009);中国科学院赣江创新研究院资助项目(E255J001)。

摘　　要：针对未知扰动引起永磁电磁混合悬浮系统控制性能下降问题,提出一种基于扩张状态观测器的改进滑模控制方法 .首先,分析并搭建了永磁电磁混合悬浮型磁浮球控制实验台和系统理论模型;其次,引入了扩张状态观测器对系统扰动进行估计与控制补偿,采用积分滑模面和改进指数趋近律设计了改进滑模控制方法,削弱了滑模控制输出抖振,改善了磁浮球的动、静态性能,并分析了有无扩张状态观测器对扰动估计与补偿时的系统的稳定性和误差收敛大致范围;最后,通过半实物联合仿真技术对所提基于扩张状态观测器的改进滑模控制方法、改进滑模控制方法、传统滑模控制方法和比例-积分-微分控制方法进行对比实验.理论分析和实验结果表明:所提基于扩张状态观测器的改进滑模控制方法具有更强的稳定性和抗扰性,对外部磁场摄动具有更强的鲁棒性,在给定信号范围变化及突变时也具有更强的适应性.所提控制方法进一步提高了永磁电磁混合悬浮系统的控制性能,对于永磁电磁混合悬浮型磁浮球这一类非线性系统的控制也具有较好的参考价值.An improved sliding mode control method based on an extended state observer is proposed to address the problem of control performance degradation of the permanent electric magnetic suspension system caused by unknown perturbations.Firstly,the control experimental platform and theoretical model of the system are analyzed and built for the permanent electric magnetic suspension type magnetic floating ball.Secondly,an extended state observer is introduced to estimate and compensate the system disturbances,and an improved sliding mode control method is designed using an integral sliding mode surface and an improved exponential convergence law to weaken the sliding mode control output jitter and improve the dynamic and static performance of the magnetic floating ball,and to analyze the stability of the system and the approximate range of error convergence with and without the extended state observer to estimate and compensate the disturbances.Finally,the proposed improved sliding mode control method based on the extended state observer,the improved sliding mode control method,the traditional sliding mode control method and the proportional-integral-derivative control method are compared and experimented by the semi-physical joint simulation technique.The theoretical analysis and experimental results show that the proposed improved sliding mode control method based on extended state observer has stronger stability and immunity,more robustness to external magnetic field uptake,and more adaptability to changes and sudden changes in the given signal range.The proposed control method further improves the control performance of the permanent electric magnetic suspension system,and is also a good reference for the control of such nonlinear systems as permanent electric magnetic suspension type magnetic floating ball.

关 键 词：永磁电磁混合悬浮系统 磁浮球 改进滑模控制 扩张状态观测器 控制性能 

分 类 号：U125[交通运输工程]