| 引用本文: | 杨洋,黄翠翠,戴春辉,龙志强.具有弱模型依赖的电磁悬浮系统主动抗扰控制[J].控制理论与应用,2026,43(5):1142~1155.[点击复制] |
| YANG Yang,HUANG Cui-cui,DAI Chun-hui,LONG Zhi-qiang.Active resisting disturbance control for electromagnetic levitation systems with weak model dependence[J].Control Theory & Applications,2026,43(5):1142~1155.[点击复制] |
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| 具有弱模型依赖的电磁悬浮系统主动抗扰控制 |
| Active resisting disturbance control for electromagnetic levitation systems with weak model dependence |
| 摘要点击 330 全文点击 16 投稿时间：2024-05-10 修订日期：2026-01-27 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40266 |
| 2026,43(5):1142-1155 |
| 中文关键词 EMS型磁浮列车 电磁悬浮系统 全驱系统方法 自抗扰控制 |
| 英文关键词 EMS maglev train electromagnetic levitation system fully actuated system approach active disturbance rejection control |
| 基金项目 国家自然科学基金项目(52332011)资助. |
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| 中文摘要 |
| 随着电磁悬浮型磁浮列车速度的提升和长期服役, 外部激扰和模型不确定将导致电磁悬浮系统稳定性和
平稳性下降. 这一问题要求电磁悬浮控制系统需要具备很强的鲁棒性来抑制由于外部激扰导致的悬浮间隙波动,
并且控制性能对平衡点和系统参数变化不敏感. 为此, 本文提出了一种基于自抗扰控制的全驱系统方法. 该方法利
用电磁悬浮系统的全驱特性设计了一种非线性控制率, 将电磁悬浮系统转化为两个串联的线性定常系统. 在此基础
上引入自抗扰控制思想, 根据线性化后的系统设计了两个扩张状态观测器对电流环和位置环中的总扰动进行观测,
并反馈到控制率中进行补偿. 闭环系统的稳定性和扩张状态观测器的收敛特性通过Lyapunov稳定性理论得到严格
的证明. 仿真实验表明, 与PID, FAS和模型辅助ADRC方法相比, 该方法能够更加有效地抑制外部激扰导致的悬浮
间隙波动, 并且其控制性能对系统参数变化不敏感. |
| 英文摘要 |
| With the increase in operational speeds and long-term service of the electromagnetic suspension (EMS) maglev
train, the external disturbance and the model uncertainty degrade the stability and smoothness of the electromagnetic
levitation (EML) system. This issue necessitates that the EML control system possesses strong robustness to suppress
levitation gap fluctuations caused by external disturbances while maintaining insensitivity to equilibrium point shifts and
parameter variations. To address this, this paper proposes a novel control method that integrates active disturbance rejection
control (ADRC) with a fully actuated system (FAS) approach. Leveraging the fully actuated characteristics of the EML
system, this method designs a nonlinear control law to transform the EML system into two cascaded linear time-invariant
systems. Building upon this, the concept of ADRC is introduced, where two extended state observers (ESO) are constructed
to estimate and compensate for total disturbances in both the current loop and position loop. The closed-loop system’s stability
and the ESO convergence are rigorously proven using Lyapunov stability theory. Simulation experiments demonstrate
that compared with PID, FAS, and model-assisted ADRC methods, the proposed approach achieves superior suppression
of levitation gap fluctuations under external disturbances while exhibiting strong robustness against parameter variations. |
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