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研究了磁悬浮球系统的线性自抗扰控制(linear active disturbance rejection control,LADRC)及其参数整定问题.磁悬浮系统固有的非线性、开环不稳定性、系统参数摄动和外界干扰不确定性使得传统的控制方法难以取得良好的控制效果,对象模型的不确定性又限制了最优控制等现代控制理论的有效应用.为此,文章采用LADRC实现磁悬浮球系统的控制,并利用传递函数的方法,探讨了系统动态特性与控制参数之间的关系.最后,通过仿真与实验对比LADRC与时间加权绝对误差值积分(integral time absolute error,ITAE)最优PID控制器的控制效果,结果表明LADRC在响应快速性抑制外部扰动、抑制输出噪声、对模型不确定性的鲁棒性和相位滞后等方面均优于PID控制器.
The linear active disturbance rejection control (LADRC) and parameter tuning of the system are studied.The inherent nonlinearity, open-loop instability, perturbation of system parameters and uncertainties of external disturbance make the system of magnetic levitation The traditional control method is difficult to obtain a good control effect, the object model of uncertainty and limit the effective control of modern control theory such as optimal control.Therefore, the article uses LADRC to achieve the control of the magnetic levitation ball system, and the use of transfer function method , The relationship between system dynamic characteristics and control parameters was discussed.Finally, the control effect of LADRC and ITAE PID controller was compared by simulation and experiment. The results show that LADRC It is better than the PID controller in the aspects of rapid response, external disturbance rejection, output noise suppression, robustness to model uncertainty and phase lag.