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Predictive Control Method for Maglev Ball Position Based on rbf-arx Model and Laguerre Function

A RBF-ARX, predictive control technology, applied in the field of maglev ball position predictive control based on RBF-ARX model and Laguerre function, to achieve the effect of eliminating steady-state error, high practical value and application prospect, and reducing the number of variables

Active Publication Date: 2020-11-24
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the magnetic levitation ball system is a fast system. When the prediction time domain and the control time domain are large, the online optimization calculation time of the predictive control algorithm may exceed the sampling time of the system.

Method used

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  • Predictive Control Method for Maglev Ball Position Based on rbf-arx Model and Laguerre Function
  • Predictive Control Method for Maglev Ball Position Based on rbf-arx Model and Laguerre Function
  • Predictive Control Method for Maglev Ball Position Based on rbf-arx Model and Laguerre Function

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Embodiment Construction

[0035] See attached figure 1 The specific working process of the magnetic levitation ball system of the present invention is as follows: the photoelectric sensor consisting of the light source 3 and the photoelectric board 4 detects the position information of the steel ball 1, and the corresponding detection signal is transmitted after being processed by the processing circuit 5 and the A / D converter 7 To the PC 9 that executes the control algorithm. The control quantity u(t) is calculated by the PC according to the predictive control algorithm described in the present invention, and then the control quantity is changed into an analog quantity by the D / A converter 8, and then transmitted to the electromagnetic winding drive circuit 6, and then the electromagnetic winding 2 is controlled. The magnitude of the current in the circuit finally realizes the control of the position of the steel ball. The system is a single-axis control system, which can only control the iron ball t...

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Abstract

The invention discloses a magnetic suspension ball position prediction control method based on an RBF-ARX model and a Laguerre function. Through the adoption of historical input and output data of a magnetic suspension ball system, according to a system identification principle, the RBF-ARX model of the system is established to describe nonlinear dynamic characteristics of the input voltage of anelectromagnetic winding and the position of a steel ball. In order to meet the requirements of the system for fast response characteristics and high control performance, the local linear and global nonlinear RBF-ARX model is converted into a non-minimum state space model with integral links, on this basis, a prediction controller based on input parametrization of the Laguerre function is designed,a prediction control system can solve a quadratic programming problem with constraints online at a short sampling interval, and a given reference signal can be accurately tracked. By means of the method, a solution is provided for prediction control over the fast response nonlinear system, and the method has high application and popularization value.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a position prediction control method for a magnetic levitation ball based on an RBF-ARX model and a Laguerre function. Background technique [0002] In recent years, maglev technology has attracted a large number of scholars and engineers to study it because of its high speed, low energy consumption, no pollution, low noise, safety and reliability. , Magnetic suspension bearings and other fields. The magnetic levitation ball system is an open-loop unstable and inherently nonlinear system. It generates a force on the iron ball through the magnetic field generated by the electromagnet, thereby balancing the gravity of the iron ball itself, so that the iron ball can be suspended. Due to the non-linear relationship between the magnetic field strength and current generated by the electromagnet, the magnetic saturation phenomenon and the existence of the eddy current effect ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 彭辉李宏亮田晓盈
Owner CENT SOUTH UNIV
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