磁悬浮运动平台的非线性变结构控制  

Nonlinear Variable-structure Control of Maglev Motion Stage

作　　者：王伟明[1] 马树元[1] 闪明才[1,2] 仉毅[1,3] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]河北大学质量技术监督学院,保定071002 [3]山东科技大学机械电子工程学院,山东青岛266510

出　　处：《组合机床与自动化加工技术》2012年第3期69-72,76,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(60674052)

摘　　要：磁悬浮运动平台具有非接触、无摩擦和无磨损等优点,适合做精密测量和定位设备。针对磁悬浮运动平台动力学模型的强耦合、非线性特点,利用非线性系统的反馈精确线性化方法,实现了运动平台悬浮位置和水平位置的非交互式控制,同时根据垂直方向和水平方向的不同特点分别设计了变结构控制器。仿真结果表明,该方法很好的实现了对悬浮驱动和水平驱动的解耦控制,且控制器具有较强的鲁棒性。Magnetic levitation motion stage is applicable for precision measurement and positioning equipments due to advantages of non-contact,no friction and no abrasion.To achieve precision control for the maglev motion stage system which has strong coupling and nonlinear characteristics,a feedback exact linearization control method is proposed.Noninteractive control of the motion stage levitating position and horizontal position was realized.Variable-structure controllers were designed respectively according to different characteristics of vertical and horizontal directions.Simulation results show that this method is very effective in the decoupling of levitating drive and horizontal drive.In addition,the controllers have strong robustness.

关 键 词：磁悬浮运动平台 非线性系统 反馈精确线性化 变结构控制 

分 类 号：TH16[机械工程—机械制造及自动化] TH39