摘要
针对磁悬浮系统的非线性特性,提出一种积分变结构控制方法.搭建了磁悬浮系统的非线性数学模型,采用变结构理论设计控制器,切换函数选取时引入积分环节,并用光滑连续的饱和函数取代符号函数,减小系统的稳态误差.仿真结果验证,积分变结构控制可以有效消除抖振,当外界扰动作用时,系统具有较好的平稳性和鲁棒性.
Aimed at the typical nonlinearity characteristics of maglev system, an integral variable structure control （IVSC） is proposed. In this paper, a nonlinear dynamic mathematical model for the magnetic levitation system. With the principle of sliding mode control to design the controller, import an integral party in switch function is constructed, and the smooth and continuous saturation function is used to replace the sign function, and effectively undermine the system of steady-state error. Simulation results verify that the IVSC controller can effectively eliminate the chattering, the system has better stability and is robust under the uncertainly disturbances.
出处
《哈尔滨理工大学学报》
CAS
北大核心
2009年第3期9-12,共4页
Journal of Harbin University of Science and Technology
基金
哈尔滨市培养学科后备带头人基金项目(2005AFXXJ023)
关键词
磁悬浮
变结构控制
切换函数
magnetic levitation
variable structure control
switching function
