%0 Journal Article %T 磁悬浮作动器的串级PID控制设计与试验<br>Design and experiment of cascade PID control for Maglev actuator %A 吴华春 %A 谢思源 %A 陈昌皓< %A br> %A WU Huachun %A XIE Siyuan %A CHEN Changhao %J 山东大学学报（工学版） %D 2018 %R 10.6040/j.issn.1672-3961.0.2017.616 %X 摘要： 为提高主动隔振系统的稳定性和改善系统的控制质量,利用系统辨识得到磁悬浮作动器控制通道的数学模型并设计相应的串级比例-积分-微分(proportion-integral-derivative, PID)控制器:系统的内环为加速度环,主要控制隔振台的加速度;系统的外环为位移环,使隔振台回到中心位置并调节加速度控制器的参考值。利用一阶系统理论分析串级PID控制的动态性能,通过在Matlab中建立串级PID仿真控制模型验证理论结果,利用单自由度试验平台设计串级PID控制系统,对比试验和仿真加速度传递率,分析加速度控制效果。试验结果表明:采用串级PID控制方法,控制对象在1~25 Hz频段内的衰减幅度为-22.5~-2.2 dB,实现了有效的振动控制。<br>Abstract: In order to improve the stability of the active vibration isolation system and improve the control quality of the system, the mathematical model of the control channel of the Maglev actuator was obtained by the system identification and the corresponding cascade PID controller was designed. The inner loop of the system was the acceleration loop, which mainly controlled the acceleration of the vibration isolator. The main loop of the system was the position loop, which made the isolator back to the center position and adjusted the reference value of the acceleration controller. The dynamic performance of cascade PID control was theoretically analyzed by the first order system theory; the theoretical results were verified by the establishment of a cascade PID simulation control model in Matlab. Then cascade PID control system was designed by the single degree of freedom experimental platform; the experiment and simulation of acceleration transfer rate was compared; the effect of acceleration control was analyzed. The experimental results showed that the cascade PID control method could make the attenuation range of the control object in the range of 1~25 Hz frequency between -22.5 dB and -2.2 dB, achieved effective vibration control %K 磁悬浮作动器 %K 动态性能分析 %K 串级PID控制 %K 系统辨识 %K 主动隔振 %K < %K br> %K active vibration isolation %K Maglev actuator %K cascade PID control %K system identification %K dynamic performance analysis %U http://gxbwk.njournal.sdu.edu.cn/CN/10.6040/j.issn.1672-3961.0.2017.616