| 引用本文: | 刘腾飞,蒋启龙,罗雨,刘彤.自耦PID控制在磁悬浮系统中的应用[J].控制理论与应用,2025,42(4):695~702.[点击复制] |
| LIU Teng-fei,JIANG Qi-long,LUO Yu,LIU Tong.Application of self-coupling PID control in magnetic levitation system[J].Control Theory & Applications,2025,42(4):695~702.[点击复制] |
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| 自耦PID控制在磁悬浮系统中的应用 |
| Application of self-coupling PID control in magnetic levitation system |
| 摘要点击 3 全文点击 1 投稿时间：2022-09-24 修订日期：2025-03-16 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2023.20838 |
| 2025,42(4):695-702 |
| 中文关键词 自耦PID 磁悬浮系统 速度因子 Simulink |
| 英文关键词 self-coupling PID magnetic levitation system speed factor Simulink |
| 基金项目 国家自然科学基金项目(52277166)资助. |
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| 中文摘要 |
| 针对轨道不平滑以及负载扰动较大可能导致系统失稳的问题,本文建立了以自耦PID(SC-PID)控制为基础
的磁悬浮控制模型,成功应用于磁悬浮系统中进行实物悬浮,并验证了SC-PID控制的优越性.SC-PID控制的方法
是将非线性磁悬浮系统映射为等价的线性系统,然后引入速度因子zc把比例–积分–微分环节耦合在一起,使得SC
PID控制各增益间具有相同的物理量纲,最后用模糊规则对SC-PID控制参数进行整定.通过Simulink仿真和实验表
明: SC-PID控制相对于传统的PID控制、分数阶PID控制(FOPID)具有更好的抗干扰能力,在负载扰动较大的情况下
仍能保持较小的调节误差;对轨道不平滑的适应性强,在轨道不平滑的恶劣情况下依然保持快而准确的跟踪性能. |
| 英文摘要 |
| In view of the problems of unstable track and large load disturbance, a maglev control model based on the self
coupling PID (SC-PID) control is established in this paper, which has been successfully applied to physical suspension in
the maglev system, and the superiority of SC-PID control is verified. The method of SC-PID control is to map the nonlinear
maglev system into an equivalent linear system, and then introduce the velocity factor to coupling the proportional-integral
differential links together, so that each gain of SC-PID control has the same physical dimension. Finally, this paper uses
fuzzy rules to adjust the control parameters. Simulink simulation and experiments show that SC-PID control relative to the
traditional PID control, fractional PID control (FOPID) has better anti-interference ability, in the load disturbance larger still
can maintain a small adjustment error; Strong adaptability to track unsmoothness, fast and accurate tracking performance
is still maintained under the bad condition of track unsmoothness. |
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