摘要
对五自由度磁悬浮运动平台进行研究,在分析其结构特性的基础上,利用Lagrange方程,结合动力学和电磁学基本理论,建立了磁悬浮系统的数学模型,用最优控制理论中线性二次型方法对系统控制器进行设计,分析影响系统动态性能的主要因素,并用MATLAB进行仿真比较,结果表明,在选择合适的性能指标加权阵的情况下,系统具有良好的动、静态特性,满足磁悬浮平台对性能的要求。
A five-degree freedom magnetically suspended platform has been presented. Based on analyzing the structural characteristics of the magnetic suspension system and combined with the fundamental theory of dynamics and electromagnetics, the mathematic model was proposed with Lagrange equation. Linear quadratic method of the optimal control theory was used to design the controller. The main factors which affect the dynamic performance of the system were analyzed in detail. MATLAB was used to carry out simulation comparison. The simulation results show that the system has better dynamic and static characteristics under appropriate performance index weight matrices and meet the need of magnetically suspended table on performance.
出处
《现代制造工程》
CSCD
北大核心
2009年第8期108-112,共5页
Modern Manufacturing Engineering
基金
国家973重点基础研究发展计划项目(2003CB716206)
关键词
磁悬浮平台
最优控制
仿真
magnetic ally suspended table
optimal control
simulation
