基于三步法的磁悬浮球系统控制研究  

Design of Triple-Step Nonlinear Controller for Maglev Ball System

作　　者：田统 杨瑶 韩光信[1] TIAN Tong;YANG Yao;HAN Guangxin(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132022,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022

出　　处：《吉林化工学院学报》2022年第1期58-62,101,共6页Journal of Jilin Institute of Chemical Technology

摘　　要：针对磁悬浮球系统存在的非线性、不确定性和外界干扰问题,为使系统输出在跟踪期望位置轨迹变化时具有良好的动态品质,设计了三步非线性控制器.该控制器由类稳态控制、可变参考前馈控制和误差反馈控制组成,按固定顺序分步骤推导完成.三步非线性控制器推导过程简单明确,所获得的控制律结构层次清晰,并且避免了高阶非线性带来的多次微分问题.仿真实验结果表明,三步非线性控制器的跟踪速度快、超调量小、跟踪效果好,不存在抖振现象.Aiming at the non-linearity,uncertainty and external interference problems of the magnetic levitation ball system,in order to make the system output have good dynamic quality when tracking the desired position trajectory change,a three-step non-linear controller was designed.The controller was composed of quasi-steady-state control,variable reference feedforward control and error feedback control,and was deduced step by step in a fixed sequence.The derivation process of the three-step nonlinear controller was simple and clear,the structure of the obtained control law was clear,and the multiple differential problems caused by high-order nonlinearity were avoided.The simulation experiment results show that the tracking speed of the three-step nonlinear controller was fast,the overshoot was small,the tracking effect was good,and there was no chattering phenomenon.

关 键 词：磁悬浮球系统 三步法 非线性控制 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]