磁悬浮球系统的两种基于Backstepping控制的轨迹跟踪方法

Magnetic Levitation Ball Nonlinear System Based on Two Types of Backstepping Controller

详细介绍了磁悬浮球系统的结构和工作原理,建立了系统的物理及相应的数学模型。利用系统的物理模型及系统的数学模型分析系统的稳定性及控制方案的选择,最后在MATLAB/Simulink环境下建立了系统仿真模型以研究控制系统的轨迹跟踪情况。其中,为了实现对磁悬浮球系统的快速,精准,稳定的轨迹跟踪控制,提出了基于两种不同V函数的Backstepping控制方法设计非线性控制器,并通过仿真实验分析对比两种控制方法在跟踪情况,对整体控制方案设计给予合理性建议。实验表明,两种控制器都可以稳定实现控制目标。

The structure and working principle of the“magnetic levitation ball tracking system”are introduced in detail.The physical model of the magnetic suspension ball tracking system is established.The system mathematical model is derived based on the physical model is established.The stability,controllability and observability of the system are established.The system simulation model is established in the MATLAB/Simulink environment to study the dynamic tracking and input requirement characteristics of the control system,which is also to study the trajectory tracking and control system performance of the input signal.In order to realize the magnetic levitation ball system of fast,accurate,and stable trajectory tracking control,based on two different V function of nonlinear controllers are proposed to design in two kinds of Backstepping control methods,and through comparing these control simulation analysis methods in the stability and tracking,etc.,to the requirement of the input energy to give reasonable advice to the whole control scheme design.Experiments show that the two controllers can achieve the control target stably,and both can get close to the tracking track and reduce the error by changing the gain of the controller.However,in terms of input signal,namely energy,there are obvious differences between the two control methods,and the controller gains are contributing a lot in the improvement of output.