磁悬浮球自适应模糊滑模控制  

Magnetic Levitation Ball Adaptive Fuzzy Sliding Mode Control

作　　者：沈浩 李俊芳[1] SHEN Hao;LI Junfang(School of Automation,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学电气工程与自动化学院,天津300384

出　　处：《微电机》2024年第4期24-28,45,共6页Micromotors

摘　　要：磁悬浮球系统是典型的具有非线性特征的开环不稳定系统,为提高磁悬浮球(Magnetic Levitation Ball,MLB)系统的悬浮性能,设计直接自适应模糊滑模控制器。构造新型的积分型滑模面保证状态变量能够在有限时间内收敛到零点;为了消除趋近率函数的不连续产生的抖振问题,设计特定的自适应律,采用自适应模糊控制对切换项进行估计。仿真结果表明,自适应模糊控制能够有效的估计切换项,从而大大削弱了滑模的抖振,证明了控制策略的有效性。Magnetic levitation ball system is a typical open-loop unstable system with nonlinear characteristics,to improve the suspension performance of magnetic levitation ball system,the direct adaptive fuzzy sliding mode controller is designed.Construct new type integral sliding mode surface to ensure state variables can be finite time convergence to zero.In order to eliminate the reaching rate function of discontinuous chattering problem,designed specific adaptive law,using adaptive fuzzy control for switching to estimate.The simulation results show that adaptive fuzzy control can effectively estimate the switching term,greatly weakening the chattering of the sliding mode,thereby proving the effectiveness of the proposed control strategy.

关 键 词：自适应控制 磁悬浮球 模糊推理 滑模控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]