Study On ADRC Of Single-point Suspension System

Single-point suspension control is the basic control unit of various kinds of suspension support technology.It is of practical significance to study the control problem of single-point suspension system in order to improve the performance of the levitation system of ordinary guided magnetic levitation train and solve the guiding problem of the "rainbow rail" system in our school.Single-point of suspension system is very strong nonlinearity and model uncertainty,rely on the controlled object accurate mathematical model of control algorithm in the inhibition of system parameter perturbation and external disturbance ability is limited,and suspension system operation condition is complex,the fixed parameters of controller in the system when large disturbance control effect is not very ideal,appear instability.This paper takes singlepoint suspension system as the research object,and uses the theory of Active Disturbance Rejection Control(ADRC)to design the suspension controller,so as to achieve better antiinterference performance and control accuracy.Mechanics and electromagnetism as the breakthrough point,this paper first to a singlepoint of suspension system for mathematical modeling,and the linearization of single-point suspension system were analyzed,and then according to the traditional PID control algorithm in a single point of suspension system does not have stronger control redundancy and the antijamming problems,using the ADRC theory to design a single-point suspension based on ADRC control system,and gives out the ADRC parameter setting method.MATLAB simulation software is used to analyze the performance of the designed ADRC from the aspects of step response,follow response,control redundancy and robustness.Finally,a set of experimental platform based on TMS320F28335 single-point suspension control system is built,which creates a good foundation for the suspension experiment,and the position sensor,digital controller and chopper of the platform are analyzed and designed in detail.Simulation and experimental results show that the proposed single-point suspension system based on ADRC is more robust and adaptive to the perturbation of internal parameters and external disturbances than the single-point suspension system based on PID control.