基于自抗扰技术的机械-电磁悬浮复合隔振控制

黄翠翠; 李晓龙; 杨洋; 龙志强

doi:10.3969/j.issn.0258-2724.20210850

基于自抗扰技术的机械-电磁悬浮复合隔振控制

doi: 10.3969/j.issn.0258-2724.20210850

国防科技大学智能科学学院，湖南长沙 410073

基金项目: 国家重点研发计划（2016YFB1200600）

详细信息

作者简介:
黄翠翠（1992—），女，博士研究生，研究方向为电磁悬浮与推进技术，E-mail：708849069@qq.com

通讯作者:
龙志强（1967—），男，教授，博士，研究方向为电磁悬浮与推进控制、智能诊断与容错控制、智能系统安全控制，E-mail： zhqlong@nudt.edu.cn

中图分类号: TP273
计量
- 文章访问数: 244
- HTML全文浏览量: 80
- PDF下载量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-01
- 录用日期: 2022-03-22
- 修回日期: 2022-03-14
- 刊出日期: 2022-03-24

Mechanical-Electromagnetic Suspension Compound Vibration Isolation Control Based on Active Disturbance Rejection Technology

College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China

摘要

摘要:
为了研究宽频带的隔振问题，以使系统具有较好的隔振效果，提出将电磁悬浮隔振与机械隔振相结合的复合隔振系统. 首先，对所设计的隔振系统进行动力学建模，分析线性化后的模型控制特性；其次，针对系统振动控制问题，提出基于自抗扰技术的控制器设计方案，并通过仿真实现了复合隔振系统的自抗扰控制；最后，在复合隔振平台上验证了该控制方案的可行性. 研究结果表明：在0~10 Hz频段控制系统能实现较好的低频跟随效果，在10~100 Hz频段幅值衰减逐渐增大，在100~300 Hz频段的隔振效果超过−14.9 dB. 本文所提出的控制方案为复合隔振系统控制提供了一种新思路.
- 复合隔振 /
- 隔振控制 /
- 电磁悬浮 /
- 自抗扰控制
Abstract:
In order to study broadband vibration isolation and make a system have better vibration isolation performance, a compound vibration isolation system combining electromagnetic suspension isolation and mechanical spring isolation is proposed. First, a dynamic model of the designed vibration isolation system is established, and the control characteristics of the linearized model are analyzed. Aiming at the problem of system vibration control, a controller design scheme based on active disturbance rejection technology is then presented, and the active disturbance rejection control of system is realized by simulation. Finally, the feasibility of the control scheme is verified on a compound vibration isolation platform. The experimental results show that the control system in 0−10 Hz frequency band can achieve good performance of low-frequency tracking, the amplitude attenuation increases gradually in 10−100 Hz, and the vibration isolation effect in 100−300 Hz frequency band exceeds −14.9 dB. The control scheme proposed in this paper provides a new idea for the control of the compound vibration isolation system.
- compound vibration isolation /
- active vibration control /
- electromagnetic suspension /
- active disturbance rejection control

HTML全文

图 1 复合隔振平台示意

Figure 1. Schematic diagram of a compound vibration isolation platform

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图 2 复合隔振系统受力分析

Figure 2. Force analysis of compound vibration isolation system

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图 3 带电流反馈的开环系统模型

Figure 3. Open loop system model with current feedback

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图 4 控制系统架构

Figure 4. Framework of control system

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图 5 控制系统仿真图

Figure 5. Simulation results of control system

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图 6 复合隔振平台实物

Figure 6. Photograph of compound vibration isolation platform

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图 7 自抗扰控制仿真与实验结果对比

Figure 7. Comparison between simulation and test results of the active disturbance rejection control

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