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磁通反馈式功率放大器中存在的噪声、参数摄动以及其它非线性特征会影响磁悬浮效果。为了研究该问题,建立了磁通反馈式功率放大器及其负载电磁铁的仿真模型,其中引入了气隙变化对磁通生成模型的影响。针对单纯比例积分微分(proportion-integral-differential,PID)控制应用在磁通反馈式功率放大器中会产生磁通稳态输出抖动的问题,设计了一个新型干扰观测器(disturbance observer,DOB)。新型DOB采用多路传感信号综合观测的方式减小反馈信号处的噪声干扰对观测值的影响,并获得了比常规DOB更加稳定的系统等效效果。仿真结果表明,结合新型DOB结构的PID反馈控制方法能够很好的抑制因模型参数摄动、模型非线性特征和噪声而造成的稳态磁通输出抖动,其控制效果优于单独PID控制方法。
The presence of noise, parametric perturbations and other non-linear characteristics in the flux-fed power amplifier can affect the magnetic levitation effect. In order to study this problem, a simulation model of flux-fed power amplifier and its load electromagnet was established, in which the influence of air-gap variation on flux generation model was introduced. A novel disturbance observer (DOB) is designed to solve the problem that the output of proportional-integral-differential (PID) control is applied to the flux-feedback power amplifier. The new DOB reduces the influence of noise interference at the feedback signal on the observed value by using the comprehensive observation of the multiplexed signal and obtains a more stable system equivalent effect than the conventional DOB. The simulation results show that the PID feedback control method combined with the new DOB structure can well suppress the steady-state flux output jitter caused by model parameter perturbation, nonlinear characteristics of the model and noise, and the control effect is better than the single PID control method.