摘要
基于非线性磁悬浮系统的奇异摄动特点,研究了一种精确几何积分流形控制方法,使磁悬浮系统的稳态流形能够无误差地跟踪给定设计流形。将复杂奇异摄动磁悬浮系统按照不同时间尺度分解为降阶系统和边界层,以线性降阶系统设计流形为例,推算出稳定慢控制的具体形式并说明参数稳定范围,结合稳定边界层的快控制,最终推算出磁悬浮系统的复合控制规律。仿真和实验均证明该控制算法能够保证降阶系统的流形无误差地跟踪给定的设计流形。利用该算法能够使磁悬浮系统无误差地跟踪任意给定的设计流形,从而提高磁悬浮系统的动态特性。输出流形与设计流形的一致性还可以用来简化系统模型,降低磁悬浮车辆系统动力学分析的复杂程度。
A geometry integral manifold control approach is studied to drive the output manifold exactly track the design manifold based on the nonlinear singular perturbation characteristic of the maglev system. The complex maglev system is divided into reduced order subsystems and boundary layer according to different time scales. The linear design manifold which is supposed by the maglev reduced order subsystem is specified, and then the form and stable range of the slow control can be concluded. The composite control of the maglev system combine a stable fast control with the slow one. The simulation and experiment show that this method can be steered exactly onto the design manifold, so the dynamic property is improved. The coherence of the output and design manifold also can be used to simplify the model of the maglev system and this will induce the complexity of the maglev vehicle dynamic analysis.
出处
《控制工程》
CSCD
2006年第2期135-137,共3页
Control Engineering of China
关键词
奇异摄动
积分流动
磁悬浮
singular perturbation
integral manifold
maglev
