摘要
针对磁浮球系统非线性不稳定的特点,将预测函数控制用于此系统中。该方法采用系统的线性化模型,构造反馈补偿结构进行镇定,从而得到系统的广义预测模型,在此基础上设计了一个预测函数控制器,并利用d SPACE平台进行实验研究。仿真和实验结果均表明,预测函数控制策略能够实现钢球的稳定悬浮,且具有抗干扰能力强,无超调,跟踪效果好等优点。
A predictive functional control algorithm is applied for the nonlinear and unstable magneticlevitation ball system in this paper. Considering the instability of the system, a linear model is established byphysical analysis. And a PD controller is used to make the system stable. Then a PFC controller is built forthe nominal stable system based on the prediction mode. Finally, lots of experiments with the proposedalgorithm are operated on the magnetic levitation system with dSPACE semi-physical simulation platform.The results of the simulation and experiment show that the control system can levitate the ball in the desiredposition with good anti-jamming and tracking capabilities.
出处
《控制工程》
CSCD
北大核心
2017年第1期203-208,共6页
Control Engineering of China
基金
山西省自然科学基金(2014011020-1
2)
太原科技大学研究生科技创新项目(20145020)
山西省研究生教改项目(20132050)
关键词
磁浮球系统
预测函数
DSPACE
非线性不稳定系统
Magnetic levitation ball system
prediction function
dSPACE
nonlinear unstable system
