基于三种最优控制方法的磁悬浮球轨迹跟踪方法  

Magnetic Levitation Ball Tracking System Based on Three Types of Optimal Controller

作　　者：陈兴贤 余伟 CHEN Xing-xian;YU Wei(School of Automation,Foshan University,Foshan 528225,China)

机构地区：[1]佛山科学技术学院自动化学院,广东佛山528225

出　　处：《电脑知识与技术》2020年第22期10-13,共4页Computer Knowledge and Technology

基　　金：国家基金项目编号:61803086。

摘　　要：详细介绍了磁悬浮球系统的结构和工作原理,提出了磁悬浮球系统的物理模型和数学模型,并以此为依据分析系统的稳定性及控制方案的选择,最后在MATLAB/Simulink环境下建立了系统仿真模型以研究控制系统的轨迹跟踪及输入信号的性能指标。为了实现对磁悬浮球系统的快速,精准,稳定的轨迹跟踪控制,提出了基于三种不同控制方法设计一种为基于状态反馈的极点配置和两种PID最优控制模型,以实现对轨迹跟踪稳定更加完美的实现,并通过仿真实验分析对比几种控制器的性能指标,进而对整体控制方案设计给予合理性建议。实验表明,三种控制方法虽然在控制方向和目的上各有偏颇,但是都可以稳定实现控制目标,而且都可以通过对控制器的相关指标改变系统的稳定性指标。The structure and working principle of the"magnetic levitation ball tracking system"are introduced in detail.The physi⁃cal model of the magnetic suspension ball tracking system is established.The system mathematical model is derived based on the physical model is established.The stability,controllability and observability of the system are established.The system simulation model is established in the MATLAB/Simulink environment to study the dynamic tracking and input requirement characteristics of the control system,which is also to study the trajectory tracking and control system performance of the input signal.In order to real⁃ize the magnetic levitation ball system of fast,accurate,and stable trajectory tracking control,is proposed based on three different control methods to design a kind of based on state feedback pole assignment and two methods of two kinds of PID optimal control model is put forward,in order to realize the trajectory tracking stability more perfect implementation,and through comparing sever⁃al simulation experiments analysis performance of the controller,and then to the whole control plan to give reasonable Suggestions.The experiment shows that although the three control methods are biased in the control direction and purpose,they can achieve the control goal stably,and can change the stability index of the system through the relative index of the controller.

关 键 词：磁悬浮球系统 最优控制 极点配置 SIMULINK仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]