基于改进跟踪微分器的电磁悬浮控制系统研究  

Research on electromagnetic levitation control system based on improved tracking differentiator

作　　者：于锦涛 杨杰[1,2,3] 胡海林 周发助[1,2] Yu Jintao;Yang Jie;Hu Hailin;Zhou Fazhu(Institute of Permanent Maglev and Rail Transit,Jiangxi University of Science and Technology,Ganzhou 341000,China;Jiangxi Provincial Key Laboratory of Maglev Technology,Ganzhou 341000,China;Ganjiang Innovation Research Institute,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,赣州341000 [2]江西省磁悬浮技术重点实验室,赣州341000 [3]中国科学院赣江创新研究院,赣州341000

出　　处：《国外电子测量技术》2024年第2期114-122,共9页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(52262050)项目资助。

摘　　要：在电磁悬浮(EMS)控制系统中,如何实现间隙及间隙微分信号的有效提取是提升系统控制性能的关键问题。针对当前跟踪微分器(TD)存在的综合控制函数形式复杂、参数整定繁琐、输出存在抖振等问题,设计了一种改进的非线性跟踪微分器,旨在提升传感器信号的提取质量。首先通过引入反平方根函数与终端吸引子函数,设计了新型的跟踪微分器。之后应用稳定性理论对改进跟踪微分器的收敛性进行验证,并通过扫频测试进行频域特性分析,明确了该跟踪微分器的参数整定原则。最后进行了闭环控制系统仿真与实物验证,结果表明,ISRU-TD相对于其他3种TD方法在稳态误差方面表现出显著优势。输出位置信号的稳态误差减小了92.58%,相对于ATD减小了18.18%,相对于Fhan-TD减小了42.55%,而与HSTD相比则增加了3.7%。此外,ISRU-TD使输出位置信号的调节时间显著减小,相对于ATD减小了38.68%,相对于Fhan-TD减小了61.99%,相对于HSTD减小了58.06%。表明其具有出色的信号跟踪和噪声抑制能力。In the context of electro-magnetic suspension(EMS)control systems,the effective extraction of gap and gap differential signals stands as a pivotal challenge,directly influencing the system's control performance.To enhance the quality of sensor signal extraction,an enhanced non-linear tracking differentiator(TD)has been ingeniously devised to address the intricacies of control functions,convoluted parameter configurations,and the issue of chattering in the output.Primarily,a novel tracking differentiator has been conceived by introducing the inverse square root function and the terminal attractor function.Subsequently,the stability theory has been employed to validate the convergence of the improved tracking differentiator.Furthermore,the frequency domain characteristics have been scrutinized through a sweep frequency test,elucidating the parameter tuning principles of the tracking differentiator.Conclusively,a series of closed-loop control system simulations and physical verifications have been executed.The results conclusively demonstrate the pronounced advantages of the improved square root unit tracking differentiator(ISRU-TD)in terms of steady-state error reduction.The steady-state error of the output position signal has been reduced by a noteworthy 92.58%,in comparison to ATD,by 18.18%when compared to Fhan-TD,and by 3.7%in comparison to HSTD.Furthermore,ISRU-TD substantially reduces the adjustment time of the output position signal,exhibiting reductions of 38.68%compared to ATD,61.99%compared to Fhan-TD,and 58.06%compared to HSTD.This underscores its exceptional capability in signal tracking and noise suppression.

关 键 词：悬浮控制 反平方根函数 终端吸引子函数 扫频测试 

分 类 号：U125[交通运输工程]