磁悬挂天平的变结构控制

The Variable Structure Control of Magnetic Suspension and Balance System

鉴于磁悬挂天平系统强烈的非线性特性及存在的多种不确定性,针对非匹配不确定性情况设计了变结构控制器。根据对悬浮时模型受力图的分析,及其模型两端电磁力、电流和电压的平衡关系,并以Y轴方向受力为例,讨论了磁悬挂天平的非线性变结构设计过程。该设计的目的是使镇定误差趋进于0,其设计步骤包括期望性能到期望力的传递、满足滑动模态可达条件的控制力到控制电压的传递、控制电压的求解。同时对设计的结果进行了仿真分析,仿真结果表明磁悬挂天平的变结构控制系统具有良好的动态性能。

Aiming at the strong nonlinear feature and its multi-uncertainty of magnetic suspension and balance system, variable structure controller is designed. According to the analysis of endured strength chart of magnetic suspension model, and the balance relation among magnetic force, current and voltage between the ends of the model, the procedure of designing nonlinear variable structure controller is discussed taking the Y-axis as the example. The aim is to keep the error being as zero, the design step includes the transfer of anticipant capability to anticipant strength, the transfer of control strength to control voltage satisfied the condition of gliding mode, and the solving of control voltage. The design consequence is emulated at the same time. The result of the emulation showed that variable structure control system of magnetic suspension and balance has nicer the dynamic performance.