摘要
以五自由度的磁悬浮平台为研究对象,介绍了磁悬浮平台的系统组成和工作原理,建立了磁悬浮平台的数学模型.针对该磁悬浮系统的开环不稳定和强非线性的特点,采用极点配置自适应控制方法实现了对磁悬浮系统的数字控制.利用DSPACE作为控制器进行了硬件在回路(Hardware-In-Loop)实物仿真实验,结果表明采用分离设计的方法设计的控制器完全适合对磁悬浮系统控制的需要,在实际的实验中取得了理想的效果.
Consider the five degree freedom magnetic floating table. The system constitutes and working principle of the magnetic are introduced, and its mathematical model is established. The problem of opening loop instability and strong nonlinearity of magnetic floating systems are solved by applying pole assignment adaptive PID control technique. The Hardware -In -Loop experimental system is constructed by utilizing DSPACE. The simulation and experiment results demonstrate the effect of the proposed design approach.
出处
《黑龙江大学自然科学学报》
CAS
北大核心
2006年第2期173-177,183,共6页
Journal of Natural Science of Heilongjiang University
基金
国家自然科学基金资助项目(60374024)
关键词
磁悬浮平台
自适应控制
系统辨识
PID控制器
magnetic floating table
adaptive control
systems identification
PID controller
