可变磁路式永磁悬浮系统模型辨识与分析

Model Identification and Analysis for Permanent Magnetic Suspension System Using Flux Path Control

可变磁路式永磁悬浮系统结构复杂,很难得到较准确的数学模型,而系统辨识方法是解决问题的有效途径。文章阐述了永磁悬浮系统结构及其工作原理,并根据其运行机理及相关准则通过数学方法建立系统平衡位置处电流—磁铁转角—位移之间关系模型;其次,通过悬浮实验采集真实输入输出数据,利用模型辨识方法获得系统ARX模型,对比两种系统模型受阶跃扰动的仿真结果表明:辨识模型的最终稳态值与实际结果一致且调节时间短,振荡次数和实际结果吻合,系统响应特性较好;理论模型的阶跃响应存在稳态误差且振荡次数多,调节时间长,这是由于理论模型中结构参数测算误差导致的仿真结果偏差。

Permanent magnetic suspension system using flux path control method have complex structures,it＇s hard to get the accurate numerical model,the system identification method is an effective way to solve the problem. The structure and suspension principle of system is explained,the current-angle of the magnetdisplacement relation model at equilibrium position is set up based on working principles and correlation criterion. Second,acquisition input and output data through suspension experiment,using the model identification method to obtain system ARX model,step response of two different models indicate that： the final steady state value of identification model is consistent with actual result and the adjusting time is short,the oscillation frequency agree with the reality,system response is better. The step response of theoretical model have steady-state error and oscillation frequency is larger,adjustment time is long,the deviation of simulation results may caused by the measuring error of structural parameters for theoretical model