摘要
根据电磁场理论,给出了磁场力与气隙、电流之间的函数关系,建立了单电磁铁悬浮系统的二阶非线性状态方程。以电流为控制量,设计了一种滑模控制器。为了解决滑模控制在单电磁铁悬浮系统控制中的抖振问题,在滑模控制器中采用指数趋近律。该控制器不但能够保证悬浮系统的各个状态趋于设计值,而且能够保证抖振振幅值呈指数衰减。同时,基于Mat-lab软件,对悬浮系统进行建模仿真。仿真结果表明:该滑模控制系统具有良好的动态性能和较强的鲁棒性。
Single Magnetic Levitation System（SMLS） is characterized by being nonlinear and instable.According to the theory of the electromagnetic field,this paper gives the function of magnetic field force,air gap and electric current,and builds two-order nonlinear equation of state.By using current as the control quantity,this article designs the sliding mode controller.For settling the question of the chatter caused by sliding mode control in SMLS,this article uses an exponential reaching law in a Sliding Mode Controller.The proposed controller guarantees not only that the state values of the system would converge to the designed values,but also that the chatter amplitude is decreasing exponentially.This paper also gives a simulation model of SMLS by using Matlab.Results show that the dynamic properties of system are upstanding and robust.
出处
《重庆理工大学学报（自然科学）》
CAS
2012年第1期11-16,共6页
Journal of Chongqing University of Technology：Natural Science
基金
霍英东教育基金会资助项目(122014)
教育部博士点新教师基金资助项目(20090184120006)
关键词
单电磁铁悬浮系统
滑模控制
指数趋近律
鲁棒性
single magnetic levitation system
sliding mode control
exponential reaching law
robust
