基于ITAE指标优化的磁悬浮控制策略研究

Research on ITAE index-based control category optimization for magnetic suspension system

针对有限控制量约束下的磁悬浮球系统控制性能优化问题,提出了一种基于ITAE指标优化的控制器参数优化方法。首先建立磁悬浮球系统平衡点附近线性化数学模型;其次采用PD控制对悬浮控制器进行设计,并给出了系统稳定性条件;最后采用随机贪婪算法在可行解空间对控制器参数进行优化,实现了悬浮系统ITAE指标最佳的控制策略。MATLAB仿真和实验结果表明,该方法可以解决有限控制量约束下的磁悬浮球系统参数优化问题。

For the problem of control performance optimization of magnetic levitation ball system under limited control constraint, an ITAE index-based controller parameters optimization method is proposed. Firstly the linear math model of magnetic levitation system is formulized near the equilibrium point. Secondly the proportional-differential controller is designed, and its parameters within feasible solution space are optimized using stochastic-greedy algorithm to obtain the best ITAE index control effects. Simulation on MATLAB and maglev ball experiments show the proposed method can solve the problem of levitation controller parameters optimization under limited control input constraints.