【摘要】 为实现对磁悬浮系统转子不平衡扰动、传感器误差以及不确定扰动的抑制，设计了一种自抗扰控制与级联的自适应陷波器结合的复合控制方法。建立了磁悬浮转子的动力学模型，分析了系统受到扰动的来源与形式。设计了基于归一化最小均方算法的自适应陷波器与三阶线性扩展状态观测器相结合的控制策略。进行了仿真和实验验证，结果表明，在同频、倍频扰动与低频扰动的干扰下，与单独使用PID控制相比，设计的复合控制方法能使转子的位移跳动减小约41.4%。更多还原

【Abstract】 In order to achieve the suppression of rotor unbalance perturbations, sensor runout and uncertainty perturbations of the magnetic levitation system, a composite control method combining active disturbance rejection control(ADRC) and cascaded adaptive notch filter was designed. The dynamics model of the magnetic levitation rotor was designed, and the sources and forms of system perturbations were analyzed. A control strategy based on the normalized least mean square(NLMS) algorithm combining an adaptive trap with a third-order linear extended state observer was designed.Simulation and experimental validation were carried out, and the results show that the designed composite control method could reduce the rotor displacement by about 41.4 % compared with the PID control alone under the disturbances of rotational speed homodyne, octave perturbation and low-frequency perturbation.更多还原