摘要
为实现高精度磁浮转台的快速响应和振动抑制,针对洛伦兹力磁悬浮万向稳定平台的高精度解耦控制问题,首先阐明径向洛伦兹力磁轴承(RLFMB)工作原理,基于等效磁路法对单个径向洛伦兹力磁轴承进行动力学建模,构建转子四自由度平转运动动力学模型。设计一种基于内模结构的解耦控制器,通过补灵敏度函数Bode图验证内模控制器强鲁棒的特点。仿真算例结果表明,跟踪性能上,偏转、平动的响应时间分别较PID控制方法降低59.3%和28.2%;抗扰性能上,偏转、平动干扰残余量较PID控制方法降低38.8%和86.2%,此方法可应用于平台对载荷系统的高精、高稳、高动态指向控制。
In order to achieve rapid response and vibration suppression of high-precision magnetic levitation turntable and ensure high-precision decoupling control of Lorentz force magnetic levitation omnidirectional stable platform,the working principle of radial Lorentz force magnetic bearings(RLFMBs)was first elucidated.Based on the equivalent magnetic circuit method,a dynamics model of a single RLFMB was established,and a four-degree-offreedom translational motion dynamics model of the rotor was constructed.A decoupling controller based on the internal model structure was designed,and the strong robustness of the internal model controller was verified by the Bode diagram of the complementary sensitivity function.The simulation results show that in terms of tracking performance,the response time of deflection and translation is reduced by 59.3%and 28.2%,respectively,compared with the proportion-integral-differential(PID)control method.In terms of anti-interference performance,the residual interference of deflection and translation is reduced by 38.8%and 86.2%compared to the PID control method.This method can be applied to high-precision,high-stability,and high dynamic pointing control of the platform’s load system.
作者
李宗育
王卫杰
王丽芬
任元
樊亚洪
李磊
LI Zongyu;WANG Weijie;WANG Lifen;REN Yuan;FAN Yahong;LI Lei(Graduate School,Aerospace Engineering University,Beijing 101416,China;Department of Aerospace Science and Technology,Aerospace Engineering University,Beijing 101416,China;Beijing Institute of Control Engineering,Beijing 100190,China)
出处
《北京航空航天大学学报》
北大核心
2025年第5期1770-1780,共11页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金(52075545)。
关键词
洛伦兹力磁悬浮万向稳定平台
径向洛伦兹力磁轴承
解耦控制
补灵敏度函数
内模控制
Lorentz force magnetic levitation omnidirectional stable platform
radial Lorentz force magnetic bearing
decoupling control
complementary sensitivity function
internal model control
作者简介
通信作者:王卫杰.E-mail:wangweijie@126.com。
