直线电动机驱动3-DOF磁浮平台推力解耦控制  

THRUST DECOUPLING CONTROL OF LINEAR MOTOR DRIVER 3-DOF PLANAR MAGNETIC SUSPENSION STAGE

作　　者：刘德君[1] 郭庆鼎[1] 翁秀华[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023

出　　处：《机械工程学报》2005年第1期234-238,共5页Journal of Mechanical Engineering

摘　　要：介绍一种新型的磁悬浮平台,应用多变量非线性的逆系统理论,对直线电动机驱动的磁悬浮平台这一多变量、非线性和强耦合的对象通过状态反馈线性化实现动态解耦控制,使其成为三个子系统。同时借助干扰观测器对扰动实现完全抑制。仿真结果表明,这种控制方案有良好的动态、静态特性和鲁棒性。A novel planar magnetic suspension stage that hasthe characteristics of nonlinear, multi-variance and strong coupling is introduced. Applying the inverse system theory of nonlinear and multi-variance, a dynamics decoupling control approach is represented to this linear-motors driven stage to separate the object system into three subsystem by linear motors by state feedback linearization. At the same time, disturbance observer is used to attain the full-scale disturbances suppression. The result of simulation indicate the proposed scheme have better dynamic and static characteristics and robust.

关 键 词：磁悬浮平台 动态解耦控制 精密定位 直线电动机 干扰观测器 

分 类 号：TM921.541[电气工程—电力电子与电力传动]