磁悬浮永磁直线电动机非脆弱鲁棒H_∞控制器设计

Non-fragile robust controller design for magnetic levitation permanent magnet linear motor

基于线性矩阵不等式(LMI)理论,提出设计非脆弱鲁棒控制器来抑制不确定因素的影响以及控制器参数摄动。首先,采用矢量控制方法中的i d=0控制策略,把非线性系统解耦成独立的线性电流子系统和速度子系统。其次,根据H∞性能指标与线性矩阵不等式的等价性,将控制器设计转化为对LMI的求解。最后,为了验证其有效性,在MATLAB环境下对控制系统进行仿真研究。通过研究可知,非脆弱鲁棒控制器能在容许的增益摄动下以及存在不确定性干扰时,系统不仅具有鲁棒性而且还是非脆弱的,从而保证闭环系统具有良好的鲁棒性。

Based on LMI,non-fragile controller is designed to restrain the influence of uncertain factors and perturbation.First,the id =0 method which is one of vector control＇s methods is used for decoupling the nonlinear system to unattached linear current subsystem and speed subsystem.Second,according to the H∞ performance and the LMI equivalence,design effort converts into finding solution by LMI method.Finally,to verify the design effective,under MATLAB condition,the research on simulation for the control system is made.The study indicates the proposed controller are robust,non-fragile and more reliable,which can assure the stability and performance of closed system when the designed controller varies in permitted ranges.