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

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

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.