可控磁路式永磁悬浮系统的鲁棒控制

Robust control of a permanent magnetic suspensionsystem using the variable flux path control method

为了实现磁悬浮系统的低功耗运行,一种可控磁路式永磁悬浮系统被提出,并基于有限元软件分析了该系统的可行性,建立该系统的动力学模型。针对其强耦合、非线性的特点,为了实现该系统的稳定运行,基于LMI的H_∞鲁棒控制理论,建立了鲁棒控制模型,设计状态反馈γ-次优H_∞鲁棒控制器。采用数值仿真与试验相结合的方式分析验证系统的悬浮特性与控制器效果,结果表明:该系统可以实现稳定的低功耗悬浮运行,可以实现对位移信号的跟踪和对外扰力的抑制;解决由于系统模型参数不确定以及外扰等因素引起的系统不稳定问题,保证了系统的鲁棒性。

In order to reduce the power consumption of magnetic suspension system,a magnetic suspension system using variable the flux path control method was put forwarded.Its feasibility was verified by using FEA,and a dynamical model was developed.To stabilize the system,a robust control model was established and a corresponding status feedbackγ-suboptimal H∞robust controller was designed according to the H∞robust control theory based on the LMI.The suspension characteristics were analyzed using numerical simulations and experiments.The results show that the suspension system can realize the energy saving of the suspension,track the input displacement signal,restrain disturbance forces,solve the problem of system instability caused by uncertain parameters and disturbances and ensure the robustness of system.