受外界扰动的水平磁悬浮系统自适应控制

A. Huang, Yu-Mao Lin, Chen-Yu Kai
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引用次数: 5

摘要

针对磁悬浮系统的内部时变不确定性和外部干扰,设计了一种自适应控制器。由于在实验研究中,传统的磁悬浮设计不易实现对系统的外部干扰,因此本文构建了水平结构。为了便于分析和控制器设计,详细推导了运动方程。由于磁环的不对称特性,在控制器设计过程中存在很大的挑战。此外,由于一些不确定因素以不匹配的方式进入系统,因此很少有控制策略是可行的。为了在各种不确定性和干扰下稳定闭环系统,提出了一种基于函数逼近的多面滑动控制律。给出了严格的数学证明,验证了设计的可行性。通过与传统PID设计的对比实验研究,阐明了所提控制器的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive control of horizontal magnetic levitation system subject to external disturbances
In this paper, an adaptive controller is designed to a magnetic levitation system to cope with internal time-varying uncertainties and external disturbances. Since, in an experimental study, the traditional magnetic levitation design is not easy to realize external disturbances to the system, a horizontal configuration is constructed in this paper. To facilitate the analysis and controller design, the equation of motion is derived in detail. Due to the asymmetric nature of the magnetic loop, there is a big challenge in the controller design process. In addition, since some of the uncertainties enter the system in a mismatched manner, few control strategies are feasible. A multiple-surface sliding control law is proposed with the function approximation technique to stabilize the closed loop system under various uncertainties and disturbances. A rigorous mathematical proof is given to verify the feasibility of the design. Experimental studies are conducted with the comparisons with the conventional PID design to clarify the performance of the proposed controller.
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