基于超稳定性的混合磁浮系统控制器设计  

Controller Design of Hybrid Maglev Systems Based on Hyper-stability

作　　者：李云钢[1] 陈树文[1] 陈慧星[1] 

机构地区：[1]国防科技大学磁悬浮中心,湖南长沙410073

出　　处：《控制工程》2010年第2期158-161,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60404003);湖南省自然科学基金资助项目(03JJY310)

摘　　要：针对电磁永磁混合型EMS磁浮列车悬浮控制中因参数摄动引起的不确定性问题,以POPOV超稳定理论为基础设计了模型参考自适应悬浮控制器。根据系统非线性模型和悬浮控制的性能指标要求确定了系统的参考模型。为了满足POPOV定理的条件,设计了前向补偿器,得到了比例积分自适应律。结合混合系统实际的控制特点对自适应律进行了简化并分析了其稳定性。仿真与实验结果表明,采用自适应机制后,系统的动态响应过程平稳,在间隙阶跃时表现出稳健性,从而能改善磁悬浮系统的性能。A model reference adaptive controller based on Popov hyper-stability theory is developed to the uncertainty problem caused by parameter variations the EMS suspended system with permanent magnet.According to the requirement of control performance,the reference model of the system is determined based on the nonlinear dynamic equations.A forward-compensator is developed to fit the term of Popov hyper-stability theorem,and a PI adaptive law is designed.To the characteristics of actual hybrid control system,the adaptive law is properly simplified and its convergence is analyzed.Simulation and experiment results show that the performance of dynamics response of the system is stable by adopting adaptive control strategy,as well as,the performance of magnetic suspension system is improved.

关 键 词：混合悬浮 超稳定 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]