摘要
针对磁悬浮球系统的本质不稳定性,设计PID控制算法实现系统的稳定控制。建立磁悬浮球系统的动力学模型,并对其中的非线性部分进行平衡点处的线性化,采用根轨迹校正设计超前滞后控制器。最后采用PID控制设计,并使用根轨迹校正中零极点对系统性能影响的思想去调整PID参数,使系统的稳定性、动态性能和稳态性能满足要求。
In order to solve the nature unstable feature of the magnetic levitation ball system,PID control algorithm was designed to realize the stability of the system. But traditional method for parameters adjustments had some subjectivity. Firstly,the dynamic model of the magnetic levitation ball system was established,and the nonlinear part of the system was linearized at the equilibrium point. Then the root locus method was used to design the lead lag compensator,and it was shown by the simulation results that the dynamic performance was difficult to meet the demands,although it can be stable. Thus PID control was adopted. And the thinking of the influence of open loop zeros and poles on root locus was adopted to correct parameters, which made the parameters adjustments have guidance. Finally the system was compensated to meet the requirements for stability,accuracy and swiftness.
作者
王玲玲
王宏
梁勇
WANG Ling-ling WANG Hong LIANG Yong(Naval Aeronautical and Astronautical University, Yantai 264000, Chin)
出处
《兵器装备工程学报》
CAS
2017年第4期122-126,共5页
Journal of Ordnance Equipment Engineering
关键词
磁悬浮球系统
PID
根轨迹法
校正
magnetic levitation ball system
PID
root locus method
compensation
