单点磁悬浮系统自抗扰自适应控制  

Active disturbance rejection and adaptive control of magnetic suspension system

作　　者：曹泽华 杨杰 胡海林[1,2] CAO Zehua;YANG Jie;HU Hailin(School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou 341000,Jiangxi,China;Jiangxi Provincial Key Laboratory of Maglev Technology(Jiangxi University of Science and Technology),Ganzhou 341000,Jiangxi,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000 [2]江西省磁悬浮技术重点实验室(江西理工大学),江西赣州341000

出　　处：《哈尔滨工业大学学报》2024年第8期86-93,共8页Journal of Harbin Institute of Technology

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

摘　　要：为解决磁悬浮系统中存在的未知干扰导致的控制性能下降问题,提出了一种利用梯度信息自适应观测带宽的自抗扰控制方法(adaptive linear active disturbance rejection control, ALADRC)。首先,建立单点悬浮系统的非线性模型,理论推导出单点悬浮系统的自抗扰参数稳定域,并由此得出临界带宽概念;其次,根据观测误差最小化推导出自适应线性扩张观测器的迭代公式,增强了系统参数的稳定性,即使当前带宽会使系统发散,ALADRC也可以自动调节到相对最优稳定带宽点,使自整定变得可行,同时当遇到扰动时,带宽也会做出相应调整,增强系统抗扰能力;然后,仿真分析了ALADRC在不同学习率下观测带宽的收敛情况,得出学习率越大观测带宽收敛速度越快,最后收敛的带宽值也相对越大,且根据临界带宽和系统单位尺度可以反向推导出学习率的数量级,简化学习率的调整;最后,在单点悬浮平台上分别对比PID(proportional integral derivative)、LADRC(linear active disturbance rejection control)和ALADRC的控制效果。结果表明,相较于PID和LADRC,ALADRC的综合控制性能最优,可以实现快速无超调起浮,具有良好的自调节和抗扰能力。To solve the problem of control performance degradation caused by unknown interference in maglev system,an active disturbance rejection control method(adaptive linear active disturbance rejection control,ALADRC)based on gradient information adaptive observation bandwidth is proposed.Firstly,a nonlinear model of single-point suspension system is established,and the stability region of auto-disturbance rejection parameter is deduced theoretically,and the concept of critical bandwidth is obtained.Secondly,the iterative formula of the adaptive linear extended observer is derived based on the minimization of the observation error,which enhances the stability of the system parameters.Even if the current bandwidth may diverge the system,ALADRC can automatically adjust to the relatively optimal stable bandwidth point,making self-tuning feasible.At the same time,when encountering disturbances,the bandwidth will be adjusted accordingly to enhance the immunity of the system.Then,the convergence of the observed bandwidth of ALADRC under different learning rates is simulated.It is concluded that higher learning rate leads to faster convergence of the observed bandwidth,and the final convergence bandwidth value is relatively larger.In addition,the order of magnitude of the learning rate can be reversely derived according to the critical bandwidth and the system unit scale to simplify the adjustment of the learning rate.Finally,the control performance of PID(proportional integral derivative),LADRC(linear active disturbance rejection control)and ALADRC are compared respectively on a single-point suspension platform.The experimental results show that,compared with PID and LADRC,ALADRC has the best comprehensive control performance,which can realize fast non-overshoot flotation with excellent self-regulation and disturbance immunity.

关 键 词：磁悬浮 自适应 LADRC 抗扰 稳定域 

分 类 号：U125[交通运输工程]