H_∞控制器在变参数有源磁悬浮系统中的应用

Application of H_∞ controller in active magnetic suspension system with variable parameters

建立了液浮陀螺仪浮子有源磁悬浮控制模型,深入地分析了其结构组成及工作原理。针对所建立的数学模型对各个结构参数进行了鲁棒性分析研究,得出了系统鲁棒稳定性对各个参数的要求。在此基础上,建立了系统工作的状态方程,对变参数的阻尼系统进行了分析研究,设计了满足系统动态性能和鲁棒稳定性要求的H∞控制器。最后分别对初始系统和校正系统进行了仿真研究,仿真结果表明,H∞控制器提高了阻尼在一定范围内变化的磁悬浮系统的鲁棒控制性能,增强了系统的抗干扰能力和动态特性。

The active magnetic suspension control model of fluid-floated gyroscope’s floater in the gyroscope is built,and its structure,composition and working principle are analyzed.For the mathematical model,the paper analyzes the robustness of various structural parameters,and obtains the robustness requirements of various system parameters.Based on this,the state equation of the system is established,and the damping system with variable parameters are analyzed and studied.Further more,the H∞ controller that meets the requirements of system dynamic performance and robustness is designed.Finally,the initial system and the correction system are simulated respectively,and the simulation results show that the controller enhances the robustness and control performance for damping the magnetic suspension control system within a certain change range,and improves the system’s anti-disturbance capacity and dynamic characteristics.