【摘要】 针对可变磁路式永磁悬浮系统鲁棒性较差的问题，提出了一种基于辅助模型的改进线性自抗扰控制(LADRC)方法.阐述了悬浮系统的工作原理，建立了动力学模型，设计了改进LADRC控制器，分析比较了改进LADRC、PID和传统LADRC控制效果.仿真结果表明：输入0.1 mm阶跃外扰时，与传统LADRC和PID控制比较，采用改进LADRC系统响应速度最快且无超调量；输入0.5 N外扰力时，采用改进LADRC系统气隙变化量最小且调节时间最短；与PID相比，采用LADRC方法可提高可变磁路式永磁悬浮系统抗扰能力.更多还原

【Abstract】 Aiming at the problem of poor robustness of permanent magnetic levitation system with variable flux path, an improved linear active disturbance rejection control(LADRC) method based on auxiliary model was proposed. The working principle of the levitation system was introduced, the dynamic model was established, and an improved LADRC controller was designed. Finally, the control effects of improved LADRC, PID and traditional LADRC were analyzed and compared. The simulation results show that the improved LADRC has the fastest response speed and no overshoot compared with the traditional LADRC and PID when 0.1 mm step disturbance was input. Besides, the air gap variation and the adjustment time of the system with improved LADRC are minimized when 0.5 N disturbance force was input. Compared with PID, the LADRC can improve the anti-disturbance ability of permanent magnetic levitation system with variable flux path.更多还原