离散滑模变结构控制在磁悬浮球系统中的应用  

Application of discrete sliding mode variable structure control in magnetic levitation ball system

作　　者：钱玉恒[1] 杨亚非[2] 张翔[2] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [2]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《中国惯性技术学报》2012年第3期368-372,378,共6页Journal of Chinese Inertial Technology

基　　金：黑龙江省研究生教育创新计划资助项目(JGXM_HLJ_2011057)

摘　　要：磁悬浮球实验装置是典型的非线性系统,该装置提供了常规PID控制,但难以达到理想的控制效果,由此提出采用离散滑模变结构控制来研究该系统。文中首先分析了离散滑模切换面和趋近率,然后设计了存在系统干扰和抖动情况下的离散滑模控制器,并研究了其收敛性,在此基础上提出了克服干扰和抖动的积分补偿离散滑模控制器,最后将所提出的控制方法在磁悬浮球实验装置上进行验证。试验验证结果表明,系统响应时间由PID控制的15 s减小到5 s,控制偏差也有所减小,控制效果优于PID控制,适合磁悬浮球系统的控制,为该实验装置提供了一套新的实验方法。The magnetic levitation ball experiment device is a typical nonlinear system,which provides conventional PID control,but hardly achieves ideal control effect.Therefore,a discrete sliding mode variable structure control is put forward in order to study the system.Firstly,the discrete sliding mode switching surface and tendency rate are analyzed.Secondly,based on the design of discrete sliding mode controller under system disturbances and jitter,and by studying the controller＇s convergence,the integral compensation discrete sliding mode controller is proposed which can overcome disturbances and jitter.Finally,the proposed control method is verified on the magnetic levitation ball experiment device.The experiment results show that the system＇s response time is reduced to 5 s with the new method,while it is 15 s with the PID control,and the control error is also decreased,which prove that the control effect of the proposed method is better than that of PID control,and the method is suitable for the control of magnetic levitation ball system.It provides a set of new experiment methods for the experiment device.

关 键 词：控制方法 PID控制 积分补偿 实验方法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]