基于磁悬浮小车系统的自适应模糊滑模-PID混合控制方案  

Scheme of Variable Universe Fuzzy Sliding Mode Adaptive and PID Hybrid Controller for Maglev Vehicle

作　　者：刘合祥[1] 胡敏强[1] 余海涛[1] 余莉[2] 

机构地区：[1]东南大学电气工程学院,南京210096 [2]南京信息工程大学,南京210044

出　　处：《电工技术学报》2013年第6期93-100,共8页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金资助项目(51207072/E0712;41076054)

摘　　要：首先利用小车悬浮动能及拉格朗日方程建立了其数学模型。针对磁悬浮小车非线性、时变性的控制问题,提出了一种变论域自适应模糊滑模-PID混合控制策略。由模糊伸缩因子和滑模条件出发,根据李雅普诺夫稳定条件,导出该控制策略的自适应律;为了消除滑模抖振现象以及使模糊滑模控制与PID控制平滑过渡,特设计了监督控制器。最后进行了仿真和试验分析,结果证明了控制策略的有效性。This paper established mathematical model of the static maglev vehicle, by using kinetic energy equation and Lagrange equation firstly. Aiming at strong nonlinear, time-varying control problem of suspended vehicle, an adaptive variable universe fuzzy sliding mode and PID hybrid controller was proposed. With the expandable and shrinkable factor of the fuzzy and sliding mode conditions, the adaptive law was derived based on Lyapunov stability conditions of the control strategy. In order to eliminate the chattering in sliding-mode and achieve a smooth transition, the supervisory controller was designed correspondingly. Finally simulation and experimental analysis had been done, the results show the validity of the given control strategy.

关 键 词：磁悬浮 自适应模糊滑模控制器 数学模型 自适应律 监督控制器 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]