摘要
针对磁悬浮列车悬浮系统的强非线性和存在外界扰动下传统PID控制器鲁棒性弱的问题,首先建立磁悬浮控制系统的数学模型并通过Adams动力学分析软件进行非线性动力学建模。采用模糊规则对PID的参数进行在线自适应整定,设计适用于磁悬浮系统的模糊自适应PID控制器。讨论在不同外界干扰下,所设计控制器在实现磁悬浮列车稳定悬浮时的控制性能并在虚拟样机中进行实时观测。通过对所设计的模糊自适应PID控制器在磁悬浮系统上的应用,可以明显发现其控制性能优于传统PID控制器。此外,在受到外界干扰的情况下,与传统PID控制器相比,所设计的模糊自适应PID控制具有较强的抗干扰性及鲁棒性。更适用于在实际磁悬浮工程中克服外界干扰来工作运行。
As to the problem that the suspension system of maglev train,which is a highly nonlinear system.Compared with the traditional PID controller,control performance needs to be improved.Firstly,the mathematical model of maglev control system is established and the nonlinear dynamic model is established by ADAMS software.The fuzzy rules are used to adjust the parameters of the PID controls.Besides,the fuzzy adaptive PID is designed.The influence of the designed controller on the maglev controller under different external disturbances is discussed.At the same time,Real time observation is carried out in the virtual prototype.Through the application of the fuzzy PID controller in the maglev system,it can be found the control performance is better than the traditional PID controller.In addition,compared with the traditional PID controller,the fuzzy adaptive PID controller designed by this method has higher anti-interference and robustness.The utility model is more suitable for working in the maglev project to overcome the external interference.
作者
董达善
陈琛
孙友刚
强海燕
DONG Da-shan;CHEN Chen;SUN You-gang;QIANG Hai-yan(Logistics Engineering College of Shanghai Maritime University,Shanghai 201306,China;School of Mechanical and Energy Engineering,Tongji University,Shanghai 201804,China)
出处
《机械设计与制造》
北大核心
2019年第11期16-19,24,共5页
Machinery Design & Manufacture
基金
国家科技支撑计划项目(2013BAG19B00-01)
