基于ACPI的磁浮球系统控制方法  

Control method of magnetic levitation ball system based on ACPI

作　　者：张昌琪 曾喆昭[1] 王伟 ZHANG Changqi;ZENG Zhezhao;WANG Wei(School of Electric and Engineering,Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410076

出　　处：《铁道科学与工程学报》2024年第3期1180-1188,共9页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(61040049);湖南省教育厅重点项目(21A0183)。

摘　　要：针对传统控制算法在解决磁浮球系统中存在高度非线性特性、参数摄动以及外部扰动的技术局限性问题,提出一种基于自耦PID(Auto-coupling PID, ACPID)控制理论的磁浮球系统控制方法。首先根据电磁力在平衡点附近进行1阶Taylor展开,结合电磁线圈的动态模型,形成以电压为控制输入的磁浮球位置动态系统。在磁浮球动力学模型的基础上,再将不确定高阶项、电磁线圈的未知电流动态以及外部未知有界扰动定义为总扰动,从而可将一个非线性不确定磁浮球系统映射为一个2阶线性扰动系统。其次,基于ACPID控制量纲匹配构造的误差函数,可将2阶线性扰动系统映射为1阶线性系统,进而构建一个在总扰动反相激励下的闭环受控误差系统,据此设计了基于速度因子的磁浮球位置通道控制器,建立磁浮球位置控制系统并进行鲁棒稳定性分析,理论证明了ACPI方法的有效性。最后与国外现有较为先进的控制方法进行对比仿真,分别进行了方波跟踪实验、正弦跟踪实验、抗扰动实验以及鲁棒性实验。与NTSMC+GPIO方法相比,在方波跟踪实验中ACPI控制系统的响应速度提升了50%,ITAE值降低了82%,RMSE值降低了22.4%,其他仿真实验下的控制性能也有明显的提升。研究结果表明,ACPI控制策略不仅可以实现在超调量较小的情况下具备较快的响应速度、较高的控制精度、较强的抗扰动能力以及较好的鲁棒性,而且控制器结构简单、计算量小,在磁浮球控制系统领域具有一定的应用前景。Aiming at the technical limitations of traditional control algorithms in solving the highly nonlinear characteristics,parameter perturbations and external disturbances in the magnetic levitation ball system,a magnetic levitation ball system control method was proposed based on Auto-coupling PID(ACPID)control theory.Firstly,according to the electromagnetic force,the first-order Taylor expansion was carried out near the equilibrium point.The dynamic model of the electromagnetic coil was combined to form a magnetic levitation ball position dynamic system with voltage as the control input.Based on the dynamic model of the magnetic levitation ball,the uncertain high-order term,the unknown current dynamics of the electromagnetic coil and the external unknown bounded disturbance were defined as the total disturbance,so that a nonlinear uncertain magnetic levitation ball system can be mapped to a second-order linear disturbance system.Secondly,based on the error function constructed by ACPID control dimension matching,the second-order linear disturbance system can be mapped to the first-order linear system,and then a closed-loop controlled error system under the antiphase excitation of the total disturbance was constructed.Based on this,a magnetic levitation ball position channel controller based on velocity factor was designed.A magnetic levitation ball position control system was established.The robust stability analysis was carried out,and the effectiveness of the ACPI method was proved theoretically.Finally,compared with the existing advanced control methods abroad,the square wave tracking experiment,sinusoidal tracking experiment,anti-disturbance experiment and robustness experiment were carried out respectively.Compared with the NTSMC+GPIO method,in the square wave tracking experiment,the response speed of the ACPI control system is increased by 50%.The ITAE value is reduced by 82%,the RMSE value is reduced by 22.4%,and the control performance under other simulation experiments is also significantly improved.The AC

关 键 词：磁浮球 自耦PID(Auto-coupling PID ACPID)控制 总扰动 误差函数 速度因子 

分 类 号：U125[交通运输工程]