摘要
针对磁悬浮系统的非线性、开环不稳定性,将其模型在平衡点附近线性化,并根据得到的状态方程设计了对系统不确定性具有较强鲁棒性的反推滑模控制器,实现了对磁悬浮系统的闭环稳定控制。在Matlab Simulink仿真环境下建立系统的实时控制框图并通过RTW工具箱生成可执行代码,实现了钢球的悬浮与控制。实验结果表明,所设计的反推滑模控制器能实现钢球的稳定悬浮并具有良好的动态跟踪性能。
For the nonlinearity and open-loop instability of the magnetic levitation system,the linear model near the equilibrium point was obtained and a backstepping sliding mode controller with strong robustness to the system uncertainties was designed according to the equation of state of the system.Closed-loop stable control of the magnetic levitation system was realized.The real-time control block diagram of the system was established in the environment of Matlab Simulink.Executable code then was generated via RTW toolbox and the suspension and control of the ball was realized.Experimental results show that the backstepping sliding mode controller realized the stable suspension of the ball and the good dynamic tracking performance was achieved.
出处
《太原科技大学学报》
2012年第2期83-87,共5页
Journal of Taiyuan University of Science and Technology
关键词
磁悬浮系统
反推滑模控制
线性化
实时控制
magnetic levitation system
backstepping sliding mode control
linearization
real time control
