磁悬浮球系统的线性自抗扰控制与参数整定

Linear Active Disturbance Rejection Control to Magnetic Levitation Ball System and Parameters Tuning

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.

In this paper, linear active disturbance rejection control （LADRC） and parameters tuning for Magnetic Levitation Ball System is studied. The inherent nonlinearity, the open-loop instability, system parameters perturbation and external disturbance uncertainty of the magnetic levitation system make the traditional control methods no longer applicable. Furthermore, model uncertainty limits the application of optimal control and other modern control theories. LADRC is applied to the magnetic levitation ball system, and the relationship between the dynamic characteristics and the controller parameters is discussed using classic frequency response method. Finally, simulation and experiment comparisons are provided for the LADRC and ITAE optimal PID controller, the results demonstrate that LADRC achieves better response rapidity, rejection quality for external disturbance and output noise, robustness for model uncertainty, as well as less phase lag.