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山东大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (2): 114-120.doi: 10.6040/j.issn.1672-3961.0.2017.608

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状态观测器对磁悬浮平台速度与加速度的估算

代时雨1,2,刘淑琴1,2*   

  1. 1. 山东大学电气工程学院, 山东 济南 250061;2. 山东省磁悬浮轴承工程技术研究中心, 山东 济南 250061
  • 收稿日期:2017-09-14 出版日期:2018-04-20 发布日期:2017-09-14
  • 通讯作者: 刘淑琴(1958— ),女,山东济宁人,教授,博士,主要研究方向为磁悬浮轴承理论及应用. E-mail: lshuqin@sdu.edu.cn E-mail:1548498204@qq.com
  • 作者简介:代时雨(1992— ),男,湖北武汉人,硕士研究生,主要研究方向为磁悬浮平台控制系统. E-mail: 1548498204@qq.com
  • 基金资助:
    山东大学基本科研业务费专项资金资助(2015JC042)

Estimation of speed and acceleration of the Maglev platform by state observer

DAI Shiyu1,2, LIU Shuqin1,2*   

  1. 1. School of Electrical Engineering, Shandong University, Jinan 250061, Shandong, China;
    2. Shandong Magnetic Bearing Technology Center, Jinan 250061, Shandong, China
  • Received:2017-09-14 Online:2018-04-20 Published:2017-09-14

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摘要： 为了解决磁悬浮平台悬挂铁块运行时会出现铁块单摆振荡的问题,提出在磁悬浮平台控制系统中构筑状态观测器对磁悬浮平台垂直方向上的速度与加速度进行估计,从而获得系统发生振荡时其阻尼系数的方法。状态观测器以线圈端电压和传感器反馈的悬浮间隙信号为输入,磁悬浮平台垂直方向上的速度与加速度为状态变量,并在保持原系统的鲁棒性不变的情况下对加入观测器的系统进行极点配置。结果表明:加入状态观测器后系统的鲁棒性仍保持良好,并且状态观测器精确地估计磁悬浮平台垂直方向上速度与加速度,能够有效地获取振荡时的阻尼系数的实时信息。

关键词: Simulink仿真, 状态观测器, 磁悬浮平台, 负阻尼振荡, 极点配置

Abstract: In order to solve the problem of single pendulum oscillation during the Maglev platform hanging iron, structuring state observer which could estimate the velocity and the acceleration in vertical direction of maglev system was advanced to obtain damping coefficient when the system oscillating. The state observer took signs of coil voltage and sensor feedback information of the suspension gap sign as input and velocity and acceleration in vertical direction of the Maglev platform as state variable. On the premise of maintaining the robustness of the original system, pole of the system was placed after adding the state observer. The results showed that robustness of the system stayed well after adding the state observer. And the state observer could accurately estimate the velocity and the acceleration in vertical direction of the Maglev platform and effectively obtain the real time information of the damping coefficient.

Key words: Maglev platform, negative damping oscillation, state observer, pole assignment, Simulink simulation

中图分类号: 

  • TP273.2
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