摘要
针对单自由度悬浮球的位置跟踪控制问题,采用基于二次最优方法完成了反馈控制律的设计,并讨论了系统响应速度和加权参数之间的关系。首先根据悬浮系统的工作原理建立其数学模型;其次重构变量完成位置跟踪反馈控制律的设计;然后在李雅普诺夫意义下证明了所得系统的稳定性;最后又引入最小衰减率的定义来分析目标跟踪的快速性。实验数据显示了所得方案的有效性,而关于系统响应快速性的讨论结果,为二次最优控制器设计中的加权参数设计提供了参考思路。
Aiming at the position tracking control problem of single degree of freedom magnetic levitation system,design of the feedback controller was completed based on linear quadratic optimal control method.The relationship between system’s responding speed and weight parameters was also discussed.Firstly,the mathematical model of the magnetic levitation system was established according to its principle.Secondly,the design of position tracking feedback control law was completed with reconfigurable variables.The stability of the resulting system is proved in the Lyapunov sense.Definition of minimum decay coefficient was introduced to analysis the responding speed of the proposed system.Simulation data show the effectiveness of the proposed scheme,and the results of the discussion about the responding speed in the design of quadratic optimal controller provide an idea for weighted parameters selection.
作者
薛鹏
韩家乐
张楠
XUE Peng;HAN Jiale;ZHANG Nan(School of Electrical Information Engineering,Henan University of Engineering,Zhengzhou 451191,China)
出处
《机械与电子》
2018年第11期48-52,共5页
Machinery & Electronics
关键词
磁悬浮
反馈控制
目标跟踪
响应速度
magnetic levitation system
feedback control
target tracking
responding speed
