摘要
采用α阶逆系统理论对五自由度磁轴承系统进行解耦控制.在建立磁轴承系统状态方程的基础上,对该系统进行了基于逆系统理论的线性解耦,并根据时间乘以误差绝对值积分(integral of time-weighted absolute error,ITAE)最小评价准则设计了闭环控制器.仿真和试验表明,α阶逆系统解耦后系统各自由度之间不存在耦合,解耦控制器与PID控制器相比,具有更好的动态特性和静态特性.
α order inverse system theory was used to accomplish decoupling control for a 5-dof magnetic bearing system. State equation of the magnetic bearing system was given. Linearization decoupling based on inverse theory for the system was done. Closed-loop controller of the system was designed based on ITAE criterion. Simulation and experiment results showed that there are no couplings among dimensions of freedom of the system after decoupling procedures. Comparing with PID controller, the decoupling controller has better dynamic and static performance.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2010年第9期1065-1069,共5页
Transactions of Beijing Institute of Technology
基金
高等学校学科创新引智计划(B08043)
关键词
磁轴承
解耦控制
ITAE准则
逆系统理论
magnetic bearing
decoupling control
integral of time-weighted absolute error（ITAE） criterion
inverse system theory
