磁悬浮直线导轨悬浮高度的自适应积分滑模控制

Self-adaptive Integral-type Sliding Mode Control on Suspension Altitude for Magnetic Suspension Linear Guide

介绍磁悬浮直线导轨这一新型机电进给装置。针对该装置悬浮部分复杂非线性、参数时变、强扰动的特点,应用自适应积分滑模控制方法设计磁悬浮系统恒悬浮高度控制器。自适应积分滑模控制器可以在线实时估计不确定系统的边界值,削弱滑模控制的抖振,减小稳态误差。与PID控制器的仿真对比实验表明,自适应积分滑模控制器具有更好的动、静态特性和鲁棒性。

A novel magnetic suspension linear guide was introduced.The part of magnetic suspension system has several characteristics of complicated nonlinearity,parameter time-varying and strong disturbance.In view of these characteristics,an self-adaptive integral-type sliding mode control was used to design magnetic suspension system constant position suspension controller.The controller can alleviate the chattering and reduce steady error by estimating the uncertain boundary on-line.The simulation results indicate that the proposed controller has a better dynamic,static characteristics and robustness compared with PID control.