磁悬浮球的H_∞控制研究

Study on the H_∞ robust controller for a maglev ball system

设计了一种磁悬浮球实验系统,建立了磁悬浮球的控制模型。基于H∞混合灵敏度控制理论,研究了加权阵的选取规律和方法,设计了磁悬浮球的H∞鲁棒控制器。开发了功率驱动系统和光电位置检测系统,并用DSP系统实现了H∞控制算法。仿真分析和实验结果表明:该磁悬浮系统具有较高的控制精度和鲁棒性,解决了磁悬浮系统中的建模精度低,外界干扰难以避免等棘手问题。

A new magnetic levitation steel ball system was designed, and its dynamic model was established. Based on the control theory of H∞ mixed sensitivity method, the general selection methods for the H∞ weighting functions are discussed. An H∞ robust controller was designed to control the system. The power driver and the photo-electric position measurement systems were developed, and the H~ control al- gorithm was realized by a DSP system. Simulation and experiment results show that the controller is effective and the maglev system is quite accurate and robust.