基于迭代策略的自适应ADRC磁轴承控制仿真  

Simulation of Adaptive ADRC Magnetic Bearing Control Based on Iterative Strategy

作　　者：孙咏叶 张艳兵 刘鹏[1,2] SUN Yongye;ZHANG Yanbing;LIU Peng(School of Electrical and control engineering,North University of China,Taiyuan 030051,China;Key Laboratory of Instrumentation Science&Dynamic Measuremen(t North University of China),Ministry of Education,Taiyuan 030051,China)

机构地区：[1]中北大学电气与控制工程学院,太原030051 [2]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051

出　　处：《中北大学学报（自然科学版）》2024年第3期340-347,共8页Journal of North University of China(Natural Science Edition)

摘　　要：针对磁悬浮轴承位置控制过程中存在非线性耦合、内外部扰动不确定性的问题,提出了一种基于自抗扰控制的四自由度磁轴承迭代学习控制策略。首先依据四自由度磁悬浮轴承系统模型搭建自抗扰控制器,其次将估计的总扰动通过间接迭代控制在线调整扩张状态观测器的带宽,实现不同增益下观测器参数的自适应整定。Simulink仿真实验数据表明:系统约在0.14 s处达到稳定,加入干扰后约0.05 s恢复稳定;基于迭代控制的自适应ADRC四自由度磁悬浮轴承控制性能好,同时调节速度快,具有较强的抗干扰能力。经比例-微分型间接迭代学习控制律在线更新带宽后,超调量小且跟踪目标误差积分性能指标小。Aiming to address the issues of nonlinear coupling and internal/external disturbance uncertain-ties in the position control process of magnetic levitation bearings,a four-degree-of-freedom magnetic bearing iterative learning control strategy based on ADRC was proposed.The self-disturbance controller was constructed based on the four-degree-of-freedom magnetic levitation bearing system model.The esti-mated total disturbance was adjusted online through indirect iterative control to achieve adaptive tuning of observer parameters under different gains by adjusting the bandwidth of the state observer.The Simulink simulation experimental data shows that the system reaches stability at about 0.14 s,and returns to stabil-ity after adding interference for about 0.05 s;The adaptive ADRC four degree of freedom magnetic levita-tion bearing based on iterative control has good control performance,fast adjustment speed,and strong anti-interference ability.After updating the bandwidth online using the PD-type indirect iterative learning control law,the overshoot is small,and the tracking target error integral performance index is small.

关 键 词：四自由度磁悬浮轴承 自抗扰控制 间接迭代学习控制 扩张状态观测器 带宽 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]