【摘要】：磁懸浮系統(tǒng)的懸浮體與支撐體之間沒有任何接觸,克服摩擦產(chǎn)生的速度限制與能量消耗等方面的問題,具有無污染、無噪聲、可以在無塵等特殊環(huán)境下工作等特點,使其在交通運輸業(yè)、航空航天、工業(yè)等領(lǐng)域都得到了廣泛的應(yīng)用。但是,磁懸浮系統(tǒng)具有不確定性、非線性以及對實時性要求較高等特點,給其控制器的設(shè)計增加了難度。該課題以單自由度的磁懸浮球系統(tǒng)為研究對象,并通過對磁懸浮控制系統(tǒng)的多種控制方法進行比較分析,選擇自抗擾控制來實現(xiàn)磁懸浮球控制系統(tǒng)的設(shè)計。針對自抗擾控制的控制作用采用的非線性函數(shù)可能會引起控制作用過大進而導(dǎo)致在干擾作用下超調(diào)較大的問題,設(shè)計了帶權(quán)因子或權(quán)函數(shù)的線性/非線性自抗擾復(fù)合控制器。其控制作用是線性與非線性狀態(tài)誤差反饋控制律通過權(quán)因子或權(quán)函數(shù)結(jié)合起來的一種復(fù)合控制律,即通過線性狀態(tài)誤差反饋控制律的引入,減小非線性狀態(tài)誤差反饋控制律在總控制作用中的權(quán)重,避免非線性狀態(tài)誤差反饋控制律由于非線性函數(shù)可能導(dǎo)致控制作用過大的問題。根據(jù)線性/非線性自抗擾復(fù)合控制中復(fù)合控制律的結(jié)合方式不同,線性/非線性自抗擾復(fù)合控制分為帶權(quán)因子與帶權(quán)函數(shù)兩種。帶權(quán)因子的線性/非線性自抗擾復(fù)合控制主要從系統(tǒng)的快速性角度出發(fā),避免控制作用因采用非線性函數(shù)可能導(dǎo)致控制作用過大進而引起干擾作用下超調(diào)較大的問題�？紤]到采用權(quán)因子的復(fù)合控制律中的線性與非線性狀態(tài)誤差反饋控制律的權(quán)重不會隨外界系統(tǒng)變化而改變,將權(quán)因子替換為可以隨著系統(tǒng)偏差變化而改變的權(quán)函數(shù)。帶權(quán)函數(shù)的復(fù)合控制律會隨著系統(tǒng)偏差的變化而改變復(fù)合控制律中線性與非線性狀態(tài)誤差反饋控制律的權(quán)重,對于擾動量復(fù)雜多變的系統(tǒng)其抗干擾能力會更強。仿真結(jié)果表明:帶權(quán)因子或權(quán)函數(shù)的線性/非線性自抗擾復(fù)合控制比傳統(tǒng)自抗擾控制的快速性好、抗干擾能力強;比傳統(tǒng)PID控制的抗干擾能力強。并通過實驗驗證了帶權(quán)因子的線性/非線性自抗擾復(fù)合控制比傳統(tǒng)PID控制的抗干擾能力強、穩(wěn)態(tài)精度高。
[Abstract]:There is no contact between the suspension and the support of the magnetic suspension system. It overcomes the problems of velocity limitation and energy consumption caused by friction. It has the characteristics of no pollution, no noise, no dust, and so on. It has been widely used in transportation, aerospace, industry and other fields. However, the design of maglev system is more difficult because of its uncertainty, nonlinearity and high requirement of real time. In this paper, the single degree of freedom magnetic levitation ball system is taken as the research object, and the design of magnetic levitation ball control system is realized by comparing and analyzing various control methods of magnetic levitation control system, and choosing auto disturbance rejection control to realize the design of magnetic levitation ball control system. Aiming at the problem that the nonlinear function used in the control of ADRC may lead to the overshoot caused by the disturbance, a linear / nonlinear ADRC with weight factor or weight function is designed. Its control function is a kind of compound control law which combines linear and nonlinear state error feedback control law through weight factor or weight function, that is, through the introduction of linear state error feedback control law. The weight of the nonlinear state error feedback control law in the total control is reduced to avoid the problem that the nonlinear state error feedback control law may cause too much control action because of the nonlinear function. According to the different ways of combining the compound control law in linear / nonlinear ADRC, the linear / nonlinear ADRC compound control can be divided into two kinds: weighted factor and weighted function. The linear / nonlinear active disturbance rejection complex control with weight factor is mainly based on the point of view of the system's rapidity to avoid the problem that the control action may be too large and overshoot caused by the interference by using the nonlinear function. Considering that the weight of the linear and nonlinear state error feedback control law in the compound control law with weight factor will not change with the change of the external system, the weight factor can be replaced by the weight function which can change with the deviation of the system. The weight function of compound control law will change the weight of linear and nonlinear state error feedback control law with the variation of system deviation. The simulation results show that the linear / nonlinear active disturbance rejection composite control with weight factor or weight function is faster than the traditional ADRC and has better anti-jamming ability than the traditional PID control. The experimental results show that the linear / nonlinear ADRC composite control has better anti-jamming ability and higher steady-state precision than the traditional PID control.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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