磁悬浮减振器的双闭环控制策略研究

摘要

A novel magnetic levitation vibrator was studied. It was a mixed magnetic levitation system which was made up of permanent magnets and electromagnets. The mutual repulsive force between the magnets was used to provide levitating force to realize flexible damp vibration. Based on the system model, aiming at the nonlinearity of magnetic levitation system of the vibrator, the existence of non-modeling dynamic and uncertainty, and the inaccurate characteristic of the model, with the auto-disturbance rejection controller as outer loop, PID controller as inner loop, the scheme that forming double-loop feedback control to achieve a stable levitation, damping and disturbance resistance was put forward. Simulation analysis and experiment research show that using this controlling scheme, the magnetic levitation vibrator has good dynamic, static characteristic and strong disturbance resistance.%研究一种新型的磁悬浮减振器,它采用永磁铁和电磁铁构成混合式磁悬浮系统,利用磁铁间相互的斥力提供悬浮力,实现柔性减振.在系统模型的基础上,针对减振器磁悬浮系统的非线性、存在未建模动态和不确定性、模型不十分精确的特点,提出采用自抗扰控制器作为外环,PID控制器作为内环,构成双闭环反馈控制方案来实现稳定的悬浮、减振和对扰动的抑制.仿真分析和实验研究表明:采用此控制方案的磁悬浮减振器具有很好的动、静态特性和强抗扰性.