基于KF-LESO-PID洛伦兹惯性稳定平台控制

熊颖; 刘强; 任元; 樊亚洪; 孙津济

doi:10.13700/j.bh.1001-5965.2020.0721

基于KF-LESO-PID洛伦兹惯性稳定平台控制

doi: 10.13700/j.bh.1001-5965.2020.0721

熊颖¹,
刘强^1, ,,
任元²,
樊亚洪³,
孙津济⁴

1.
北京石油化工学院精密电磁装备与先进测量技术研究所, 北京 102617
2.
航天工程大学宇航科学与技术系, 北京 101416
3.
北京控制工程研究所空间智能控制技术重点实验室, 北京 100190
4.
北京航空航天大学惯性技术重点实验室, 北京 100083

基金项目:

北京市自然科学基金 3212004

北京市青年拔尖人才培育计划 2017000026833ZK22

“十三五”时期北京市属高校高水平教师队伍建设支持计划 CIT&TCD201804034

详细信息

通讯作者:
刘强, E-mail: liuqiangbuaa@163.com

中图分类号: V448.2;TP273
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- 被引次数: 0
出版历程
- 收稿日期: 2020-12-30
- 录用日期: 2021-04-02
- 网络出版日期: 2022-06-20
- 整期出版日期: 2022-06-20

Lorentz inertial stability platform control based on KF-LESO-PID

1.
Institute of Precision Electromagnetic Equipment and Advanced Measurement Technology, Beijing Institute of Petrochemical Technology, Beijing 102617, China
2.
Department of Areospace Science and Technology, Space Engineering University, Beijing 101416, China
3.
Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190, China
4.
Key Laboratory of Inertial Technology, Beihang University, Beijing 100083, China

Funds:

Beijing Municipal Nature Science Foundation 3212004

Youth Top Talent Training Funded Project of Beijing 2017000026833ZK22

Support Project of High-Level Teachers in Beijing Municipal Universities in the Period of 13th Five-Year Plan CIT&TCD201804034

More Information

Corresponding author: LIU Qiang, E-mail: liuqiangbuaa@163.com

摘要

摘要:
为克服现有惯性稳定平台使用机械轴承干扰量大, 使用气/液浮轴承难度高, 使用磁阻力磁轴承线性度差的缺点, 提出一种基于洛伦兹力偏转磁轴承的新型洛伦兹惯性稳定平台(LISP)。为克服耦合效应和承载摩擦谐振干扰对平台偏转通道高频姿态补偿控制的影响, 提出一种基于LESO-PID结合卡尔曼滤波(KF)反馈的数字控制方案。根据洛伦兹力磁轴承(LFMB)支承偏转系统结构特点, 建立了LISP转子偏转动力学模型；利用模型分析径向两自由度偏转特性, 提出在PID控制器的基础上, 引入线性扩张状态观测器(LESO)和卡尔曼滤波反馈以抑制摩擦谐振干扰及耦合效应；搭建了以DSP和FPGA为核心的数字控制系统, 并以离散形式将控制方法进行数字化实现。采用对数频率特性判据和Nichols曲线对所提控制方法的稳定性进行分析, 通过仿真比较引入LESO-KF前后转子偏转通道的稳定性。实验结果表明：PID控制条件下在高频时失真, 引入LESO-KF后明显降低噪声及干扰, 同时还可对系统内部状态参数进行实时观测。实验结果验证了所提控制方法对摩擦谐振干扰及耦合效应的抑制作用。
- 洛伦兹惯性稳定平台(LISP) /
- 洛伦兹力磁轴承(LFMB) /
- LESO-PID控制 /
- 卡尔曼滤波(KF)反馈 /
- 稳定控制
Abstract:
To overcome the disadvantages of the existing inertial stabilization platform such as large interference for using mechanical bearings, high difficulty for using air/liquid bearings and poor linearity for using magnetic resistance magnetic bearings, a new Lorentz inertial stability platform (LISP) based on Lorentz force deflection magnetic bearing is proposed. To suppress the influence of coupling effect and load-bearing friction resonance interference on the high-frequency attitude compensation control of the platform deflection channel, a digital control scheme based on LESO-PID combined with Kalman filter (KF) feedback is proposed. According to the structural characteristics of rotor tilt supported by Lorentz force magnetic bearing (LFMB), a dynamics model for LISP deflection is established; the tilting relationship of two radial channels is analyzed with the established model, and the linear extended state observer (LESO) and Kalman filter feedback control is introduced into PID controller to suppress friction resonance interference and coupling effects; a digital control system based on DSP and FPGA is construed, and the control method is digitalized in a discrete form. The stability of the proposed control method is analyzed by logarithmic frequency characteristic criterion and Nichols curve, and the stabilities of the rotor deflection channel before and after importing LESO-Kalman are compared through simulation. Experimental results show that with traditional PID, the rotor system causes serious distortion at high frequency, while the system reduces noise and interference greatly after importing LESO-Kalman control. Meanwhile, the internal state parameters of the system can be monitored in real time. Experimental results verify the effectiveness of proposed control method to suppress the frictional resonance interference and coupling effects.
- Lorentz inertial stability platform (LISP) /
- Lorentz force magnetic bearing (LFMB) /
- LESO-PID control /
- Kalman filter (KF) feedback /
- stable control

HTML全文

图 1 LISP结构示意图

Figure 1. Diagram of LISP structure

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图 2 LFMB等效磁路

Figure 2. LFMB equivalent magnetic circuit

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图 3 LESO-PID控制框图

Figure 3. Block diagram of LESO-PID control

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图 4 LISP-KF结构

Figure 4. LISP-KF structure

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图 5 LISP偏转控制系统框图

Figure 5. Block diagram of LISP deflection control system

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图 6 等效开环传递函数Bode图

Figure 6. Bode diagram of equivalent open-loop transfer function

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图 7 LISP系统Nichols曲线

Figure 7. Nichols curves of LISP system

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图 8 模拟参数R与摄动参数ε取值曲线

Figure 8. Simulation parameter R and perturbation parameter ε value curves

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图 9 LFMB角度θ扩张观测

Figure 9. LFMB angle θ expansion observation

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图 10 角速度扩张观测

Figure 10. Angular velocity expansion observation

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图 11 系统未知动态ξ扩张观测曲线

Figure 11. Unknown dynamic ξ expansion observation curve in system

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图 12 LESO干扰信号观测与误差

Figure 12. LESO interference signal observation and error

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图 13 普通KF-PID响应曲线

Figure 13. Response curves of common KF-PID

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图 14 含LESO KF-PID响应曲线

Figure 14. Response curves of KF-PID with LESO

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图 15 LISP控制系统实验平台

Figure 15. LISP control system experiment platform

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图 16 LISP连续系统噪声测量

Figure 16. LISP continuous system noise measurement

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图 17 KF-PID低压实际测量曲线

Figure 17. KF-PID low pressure actual measurement curves

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图 18 LISP矢量示踪曲线

Figure 18. LISP vector tracer curves

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图 19 位置与速度矢量拟合曲线

Figure 19. Position and velocity vector fitting curves

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表 1 系统实际参数与调试参数

Table 1. System actual parameters and debugging parameters

系统调试参数	数值	物理尺寸参数	数值
功放增益k_g/(V·A^-1)	0.31	动子质量m/kg	2.1
传感器比例增益k_s/(V·m^-1)	9 800	线圈有效长度L/mm	71.2
优化比例系数k_P	17.13	转动惯量J_x/(kg·m²)	0.005 76
优化积分系数k_I	0.55	线圈匝数N	150
优化微分系数k_D	0.47	线圈电阻R/Ω	8.3
功放截止频率w_g/Hz	320	磁感应强度大小B/T	0.3
滤波截止频率w_f/Hz	350	X/Y额定工作范围/(°)	±20

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