奇异摄动磁悬浮系统的串级PID控制稳定性研究

研究采用串级PID控制的奇异摄动磁悬浮系统参数稳定范围.首先给出磁悬浮系统的串级PID控制算法与模型,讨论了系统稳定应该遵循的两个条件:一个是慢变子系统PID控制的渐近稳定条件,另一个是快变子系统电流环稳定条件,从而推导出基于串级PID控制的磁悬浮系统所应遵循的参数稳定范围和摄动参数稳定上界.结论说明由于电流环稳定条件与PID稳定条件存在较强耦合,对系统固有参数要求较为严格,导致实际系统调试难度较大.

Stability research on singularly perturbed maglev system with cascade PID control

The stable range of singularly perturbed maglev system parameter was studied based on cascade PID controller.Firstly,the arithmetic and model of cascade PID control maglev system were given.Then two conditions were analyzed to ensure the stability of the system:one is the asymptotically stable condition of slow PID controller subsystem;the other is the singularly perturbed stability condition of fast current loop subsystem.So the range of the stable control parameter and the upper bound of the perturbed parameter were summarized.The conclusion shows that the requirement of inherent system parameters is strict because of the strong coupling of the current loop and PID controller.This is why it is difficult to ensure the stability of the actuarial maglev system.