一种磁悬浮飞轮特定参数摄动鲁棒控制方法  

A Robust Control Method for Maglev Levitation Flywheel with Specific Parameter Uncertainty

作　　者：张立[1] 向彦霖 Zhang Li;Xiang Yanlin(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,长沙410073

出　　处：《航天控制》2023年第5期14-18,共5页Aerospace Control

基　　金：国家自然科学基金(61503395)。

摘　　要：针对磁悬浮飞轮位移刚度参数相比其他参数更容易发生摄动问题,在闭环状态矩阵为正规矩阵的约束下优化特征值对位移刚度的敏感度,根据最优特征值求解全状态反馈控制器参数。为了实现无状态观测器的全状态反馈控制,将控制模型增广至非最少状态空间,全部状态变量可由控制对象的输入、输出量直接计算得到。为了进一步提高鲁棒性,将等价干扰信号补偿方法应用于优化后的控制系统。仿真结果表明:位移刚度摄动达到标称值70%时,状态增广后的闭环系统仍然能够镇定系统,并且对位移刚度摄动的适应性更好,调节时间也更短;闭环系统最靠近虚轴的主导特征值离虚轴越远控制器对参数摄动的适应性越好,但控制所需能量代价越大;信号补偿方法可以在不改变主导特征值的前提下提高控制器对参数摄动的适应性。Aiming at the problem that the displacement stiffness parameters of a magnetic suspension fly⁃wheel are more prone to generate perturbation than other parameters,the sensitivity of the eigenvalues to the displacement stiffness is optimized under the constraint that the closed⁃loop state matrix is a normal matrix,and the full state feedback controller parameters are solved based on the optimal eigenvalues.In order to a⁃chieve full state feedback control for stateless observers,the control model is extended to a non⁃minimum state space,and all state variables can be directly calculated from the input and output quantities of the con⁃trol object.In order to further improve robustness,the equivalent disturbance signal compensation method is applied to the optimized control system.The simulation shows that when the displacement stiffness perturba⁃tion reaches 70%of the nominal value,the closed⁃loop system with state augmentation can still stabilize the system,and has better adaptability to the displacement stiffness perturbation and shorter adjustment time;The dominant eigenvalues of the closed⁃loop system closest to the virtual axis are further away from the virtu⁃al axis,and the controller is more adaptive to parameter perturbations,but the energy cost of control is greater;The adaptability of the controller can be improved to parameter perturbation without changing the dominant eigenvalue by using the signal compensation.

关 键 词：磁悬浮飞轮 参数摄动 鲁棒性 特征值配置 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]