摘要
为了实现磁悬浮系统悬浮气隙的精确控制,提出运用自抗扰控制技术对横梁悬浮系统进行悬浮气隙控制,自抗扰控制器可以将系统模型参数变化和外扰作用均当作对系统的扰动而自动在线估计并予以补偿。对横梁磁悬浮系统建立的原始数学模型选择状态变量,得到系统的非线性状态方程,以线圈两端电压为控制量,设计悬浮气隙位置环和电流环双环自抗扰控制器,实现横梁悬浮系统的非线性控制。仿真结果表明,自抗扰控制具有良好的动态性能和抑制外来扰动能力,可以实现横梁无摩擦稳定悬浮。
In order to realize the accurate control of suspension gap,the paper presented that suspension air-gap of beam suspension system was controlled by using auto-disturbance-rejection control technology.Auto-disturbances-rejection controller can regard system model parameter variations and external disturbance as comprehensive disturbance,automatic on-line estimation and compensation.First the state variables were chosen based on the mathematical model of beam suspension system,nonlinear state equation of system was obtained;then coil voltages was regarded as controlled variable,double-loop（position loop and current loop） auto-disturbances-rejection controller of the suspension air-gap was designed,nonlinear control of the beam suspension system was realized.The simulation results show that the auto-disturbances-rejection controller can adapt well to the nonlinearity of suspension system and has strong robustness to system＇s parameter variations and the system＇s disturbances.The beam friction-free stable suspension can be realized.
出处
《制造技术与机床》
CSCD
北大核心
2012年第4期56-60,共5页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金资助项目(50805098)
关键词
龙门移动式数控机床
悬浮气隙
自抗扰控制
非线性控制
扩张状态观测器
非线性误差反馈
Gantry Moving Type NC Machine Tool
Suspension Gap
Auto Disturbances Rejection Control
Nonlinear Control
Extended State Observer
Nonlinear Error Feedback
