输出受限的磁悬浮系统鲁棒自适应容错控制研究

Research on Robust Adaptive Fault-tolerant Control for Output Limited Magnetic Levitation System

磁悬浮系统具有无接触、无摩擦、低功耗等显著特点,在精密工程、交通运输和工业生产等领域得到了广泛应用。文章针对执行器故障下的具有未知参数的磁悬浮系统运行过程中受到外界扰动以及发生参数陡变的情况,设计了基于扰动观测器的鲁棒自适应容错控制律。对于系统中的不匹配扰动,通过扰动观测器对其进行观测估计,利用估计值抑制扰动对系统性能的影响,并引入势垒李雅普诺夫函数实现对系统输出信号界值的约束。理论分析和仿真实验证明了该控制器可以使输出信号稳定跟踪,同时保证输出信号始终在给定的约束范围内。

The magnetic levitation system has been widely used in precision engineering,transportation and industrial production due to its significant advantages such as non-contact,frictionless and low power consumption.A robust adaptive fault-tolerant control law based on disturbance observer is presented to further improve tracking performance and safety of the system,for the case of external disturbance,actuator failure,parameter uncertainty and parameter abrupt change during the operation of the magnetic levitation system.For the mismatched disturbance in the system,disturbance observer is used to observe it,and the estimated value is used to suppress the influence of the disturbance on the system performance,and the barrier Lyapunov function is introduced to realize the constraint of the system output signal boundary value.Theoretical analysis and simulation results show that the controller can make the output signal achieve stable tracking and that the output signal is always within the given constraint range.